The Prophet ﷺ led his Companions in the Fear Prayer in the seventh Ghazwa i.e. the Ghazwa of Dhat-ur-Riqa. Ibn Abbas said, "The Prophet ﷺ offered the Fear Prayer at a place called Dhi-Qarad."
أَنَّ النَّبِيَّ ﷺ صَلَّى بِأَصْحَابِهِ فِي الْخَوْفِ فِي غَزْوَةِ السَّابِعَةِ غَزْوَةِ ذَاتِ الرِّقَاعِ قَالَ ابْنُ عَبَّاسٍ صَلَّى النَّبِيُّ ﷺ الْخَوْفَ بِذِي قَرَدٍ