Yazid prayed along with the Messenger of Allah ﷺ when he was a young boy. When he (the Prophet) had prayed there were two persons (sitting) in the corner of the mosque; they did not pray (along with the Prophet). He called for them. They were brought trembling (before him). He asked: What prevented you from praying along with us? They replied: We have already prayed in our houses. He said: Do not do so. If any of you prays in his house and finds that the imam has not prayed, he should pray along with him; and that will be a supererogatory prayer for him.  

عَنْ أَبِيهِأَنَّهُ صَلَّى مَعَ رَسُولِ اللَّهِ ﷺ وَهُوَ غُلاَمٌ شَابٌّ فَلَمَّا صَلَّى إِذَا رَجُلاَنِ لَمْ يُصَلِّيَا فِي نَاحِيَةِ الْمَسْجِدِ فَدَعَا بِهِمَا فَجِيءَ بِهِمَا تُرْعَدُ فَرَائِصُهُمَا فَقَالَ مَا مَنَعَكُمَا أَنْ تُصَلِّيَا مَعَنَا قَالاَ قَدْ صَلَّيْنَا فِي رِحَالِنَا فَقَالَ لاَ تَفْعَلُوا إِذَا صَلَّى أَحَدُكُمْ فِي رَحْلِهِ ثُمَّ أَدْرَكَ الإِمَامَ وَلَمْ يُصَلِّ فَلْيُصَلِّ مَعَهُ فَإِنَّهَا لَهُ نَافِلَةٌ  

"I attended Hajj with the Prophet. I prayed the Subh (Fajr) prayer with him in Masjid AI-Khaif." He said: "When the Prophet finished, he turned (from the Qiblah) and saw two men at the back of the people who had not prayed with him. He said, 'Bring them to me.' So I brought then while they were shuddering with fear. He said: 'What prevented you from praying with us?" They said: 'O Messenger of Allah!' We prayed at our camp.' So he said: 'Do not do that; when you pray in your camp then you come to a Masjid with a congregation, then pray with them. That will be a voluntary prayer for you.'"  

شَهِدْتُ مَعَ النَّبِيِّ ﷺ حَجَّتَهُ فَصَلَّيْتُ مَعَهُ صَلاَةَ الصُّبْحِ فِي مَسْجِدِ الْخَيْفِ قَالَ فَلَمَّا قَضَى صَلاَتَهُ وَانْحَرَفَ إِذَا هُوَ بِرَجُلَيْنِ فِي أُخْرَى الْقَوْمِ لَمْ يُصَلِّيَا مَعَهُ فَقَالَ عَلَىَّ بِهِمَا فَجِيءَ بِهِمَا تُرْعَدُ فَرَائِصُهُمَا فَقَالَ مَا مَنَعَكُمَا أَنْ تُصَلِّيَا مَعَنَا فَقَالاَ يَا رَسُولَ اللَّهِ إِنَّا كُنَّا قَدْ صَلَّيْنَا فِي رِحَالِنَا قَالَ فَلاَ تَفْعَلاَ إِذَا صَلَّيْتُمَا فِي رِحَالِكُمَا ثُمَّ أَتَيْتُمَا مَسْجِدَ جَمَاعَةٍ فَصَلِّيَا مَعَهُمْ فَإِنَّهَا لَكُمَا نَافِلَةٌ قَالَ وَفِي الْبَابِ عَنْ مِحْجَنٍ الدِّيلِيِّ وَيَزِيدَ بْنِ عَامِرٍ  

Yazid prayed along with the Messenger of Allah ﷺ when he was a young boy. When he (the Prophet) had prayed there were two persons (sitting) in the corner of the mosque; they did not pray (along with the Prophet). He called for them. They were brought trembling (before him). He asked: What prevented you from praying along with us? They replied: We have already prayed in our houses. He said: Do not do so. If any of you prays in his house and finds that the imam has not prayed, he should pray along with him; and that will be a supererogatory prayer for him. (Using translation from Abū Dāʾūd 575)   

أَنَّهُ صَلَّى مَعَ رَسُولِ اللهِ ﷺ صَلَاةَ الصُّبْحِ بِمِنًى وَهُوَ غُلَامٌ شَابٌّ فَلَمَّا صَلَّى رَسُولُ اللهِ ﷺ إِذَا هُوَ بِرَجُلَيْنِ لَمْ يُصَلِّيَا فَدَعَا بِهِمَا فَجِيءَ بِهِمَا تَرْعَدُ فَرَائِصُهُمَا فَقَالَ لَهُمَا مَا مَنَعَكُمَا أَنْ تُصَلِّيَا مَعَنَا؟ قَالَا قَدْ صَلَّيْنَا فِي رِحَالِنَا قَالَ فَلَا تَفْعَلَا إِذَا صَلَّيْتُمْ فِي رِحَالِكُمْ ثُمَّ أَدْرَكْتُمُ الْإِمَامَ لَمْ يُصَلِّ فَصَلِّيَا مَعَهُ فَهِيَ لَكُمْ نَافِلَةٌ  

[Machine] The Prophet ﷺ prayed, then when he finished his prayer, he saw two men behind the people. He commanded them to be brought forward and it thundered upon their arrival. He said to them, "What prevented you from praying with us?" They said, "O Prophet of Allah, we prayed in our journey." Then they turned towards each other and the Prophet ﷺ said, "If you have already prayed in your journey and then you catch up with the congregational prayer, then pray, for it will be considered as a voluntary prayer for you."  

صَلَّى النَّبِيُّ ﷺ صَلَاةً فَلَمَّا قَضَى صَلَاتَهُ إِذَا هُوَ بِرَجُلَيْنِ فِي مُؤَخَّرِ النَّاسِ فَأَمَرَ فَجِيءَ بِهِمَا تُرْعَدُ فَرَائِصُهُمَا فَقَالَ لَهُمَا «مَا حَمَلَكُمَا عَلَى أَنْ لَا تُصَلِّيَا مَعَنْا» قَالَا يَا نَبِيَّ اللَّهِ صَلَّيْنَا فِي رِحَالِنَا ثُمَّ أَقْبَلْنَا فَقَالَ النَّبِيُّ ﷺ «إِذَا صَلَّيْتُمَا فِي رِحَالِكُمَا ثُمَّ أَدْرَكْتُمَا الصَّلَاةَ فَصَلِّيَا فَإِنَّهَا لَكُمَا نَافِلَةٌ»  

[Machine] The Prophet ﷺ prayed a prayer, then when he finished his prayer, he found two men behind the people. So he ordered them and they came trembling. Their garments were shaking. He said, "What caused both of you not to pray with us?" They said, "O Messenger of Allah, we already prayed in our tents. Then we came here." The Prophet ﷺ said, "If you both pray in your tents and then catch up with the congregation, then pray, for it will be an additional (optional) prayer for you."  

صَلَّى النَّبِيُّ ﷺ صَلَاةً فَلَمَّا قَضَى صَلَاتَهُ إِذَا هُو بِرَجُلَيْنِ فِي مُؤَخَّرِ النَّاسِ فَأَمَرَ بِهِمَا فَجِيءَ بِهِمَا تَرْعَدُ فَرَائِصُهُمَا فَقَالَ مَا حَمَلَكُمَا عَلَى أَنْ لَمْ تُصَلِّيَا مَعَنَا قَالَا يَا نَبِيَّ اللهِ صَلَّيْنَا فِي الرِّحَالِ ثُمَّ أَقْبَلْنَا فَقَالَ النَّبِيُّ ﷺ إِذَا صَلَّيْتُمَا فِي رِحَالِكُمَا ثُمَّ أَدْرَكْتُمَا الصَّلَاةَ فَصَلِّيَا فَإِنَّهَا لَكُمَا نَافِلَةٌ  

[Machine] We prayed with the Messenger of Allah ﷺ the Fajr prayer in Mina, when suddenly two men at the back of the mosque did not pray. The Messenger then called for them, and they were brought to him trembling. He asked them, "What prevents you from praying with us?" They replied, "O Messenger of Allah, we have already prayed in our tents." He said, "Do not do that. If you have already prayed in your tents and then you come to the imam and he has not prayed, then pray with him, for it will be an extra prayer for you."  

صَلَّيْنَا مَعَ رَسُولِ اللهِ ﷺ الصُّبْحَ بِمِنًى فَإِذَا رَجُلَانِ فِي مُؤَخَّرِ الْمَسْجِدِ لَمْ يُصَلِّيَا فَدَعَا بِهِمَا فَجِيءَ بِهِمَا تَرْعَدُ فَرَائِصُهُمَا فَقَالَ مَا مَنَعَكُمَا أَنْ تُصَلِّيَا مَعَنَا قَالَا يَا رَسُولَ اللهِ إِنَّا قَدْ صَلَّيْنَا فِي رِحَالِنَا قَالَ فَلَا تَفْعَلَا إِذَا صَلَّيْتُمَا فِي رِحَالِكُمَا ثُمَّ أَتَيْتُمَا الْإِمَامَ وَلَمْ يُصَلِّ فَصَلَّيَا مَعَهُ فَإِنَّهَا لَكُمَا نَافِلَةٌ