The Prophet ﷺ sent an army under the command of Usama bin Zaid. When some people criticized his leadership, the Prophet ﷺ said, "If you are criticizing Usama's leadership, you used to criticize his father's leadership before. By Allah! He was worthy of leadership and was one of the dearest persons to me, and (now) this (i.e. Usama) is one of the dearest to me after him (i.e. Zaid).  

بَعَثَ النَّبِيُّ ﷺ بَعْثًا وَأَمَّرَ عَلَيْهِمْ أُسَامَةَ بْنَ زَيْدٍ فَطَعَنَ بَعْضُ النَّاسِ فِي إِمَارَتِهِ فَقَالَ النَّبِيُّ ﷺ إِنْ تَطْعُنُوا فِي إِمَارَتِهِ فَقَدْ كُنْتُمْ تَطْعُنُونَ فِي إِمَارَةِ أَبِيهِ مِنْ قَبْلُ وَايْمُ اللَّهِ إِنْ كَانَ لَخَلِيقًا لِلإِمَارَةِ وَإِنْ كَانَ لَمِنْ أَحَبِّ النَّاسِ إِلَىَّ وَإِنَّ هَذَا لَمِنْ أَحَبِّ النَّاسِ إِلَىَّ بَعْدَهُ  

Aisha said, "A Qaif (i.e. one skilled in recognizing the lineage of a person through Physiognomy and through examining the body parts of an infant) came to me while the Prophet ﷺ was present, and Usama bin Zaid and Zaid bin Haritha were Lying asleep. The Qa'if said. These feet (of Usama and his father) are of persons belonging to the same lineage.' " The Prophet ﷺ was pleased with that saying which won his admiration, and he told ʿAisha of it.  

دَخَلَ عَلَىَّ قَائِفٌ وَالنَّبِيُّ ﷺ شَاهِدٌ وَأُسَامَةُ بْنُ زَيْدٍ وَزَيْدُ بْنُ حَارِثَةَ مُضْطَجِعَانِ فَقَالَ إِنَّ هَذِهِ الأَقْدَامَ بَعْضُهَا مِنْ بَعْضٍ قَالَ فَسُرَّ بِذَلِكَ النَّبِيُّ ﷺ وَأَعْجَبَهُ فَأَخْبَرَ بِهِ عَائِشَةَ