The Mu'adh-dhin of Messenger of Allah would wait and he would not call the Iqamah until he saw the Messenger of Allah had come out, he would call the Iqamah when he saw him." (Using translation from Tirmidhī 202)
كَانَ مُؤَذِّنُ رَسُولِ اللهِ ﷺ يُؤَذِّنُ ثُمَّ يُمْهِلُ وَلَا يُقِيمُ حَتَّى إِذَا رَأَى رَسُولَ اللهِ ﷺ قَدْ خَرَجَ أَقَامَ الصَّلَاةَ حِينَ يَرَاهُ