Rifaʿa was one of the warriors of Badr while (his father) Rafiʿ was one of the people of Al-ʿAqaba (i.e. those who gave the pledge of allegiance at Al-ʿAqaba). Rafiʿ used to say to his son, "I would not have been happier if I had taken part in the Badr battle instead of taking part in the 'Aqaba pledge."
سَأَلَ جِبْرِيلُ النَّبِيَّ ﷺ بِهَذَا