We were in the company of the Prophet ﷺ while returning from 'Usfan, and Messenger of Allah ﷺ was riding his she-camel keeping Safiya bint Huyay riding behind him. His she-camel slipped and both of them fell down. Abu Talha jumped from his camel and said, "O Messenger of Allah ﷺ! May Allah sacrifice me for you." The Prophet ﷺ said, "Take care of the lady." So, Abu Talha covered his face with a garment and went to Safiya and covered her with it, and then he set right the condition of their shecamel so that both of them rode, and we were encircling Messenger of Allah ﷺ like a cover. When we approached Medina, the Prophet ﷺ said, "We are returning with repentance and worshipping and praising our Lord." He kept on saying this till he entered Medina. (Using translation from Bukhārī 3085)   

كُنْتُ مَعَ رَسُولِ اللهِ ﷺ مَقْفَلَهُ مِنْ عُسْفَانَ حَتَّى إِذَا كُنَّا بِبَعْضِ الطَّرِيقِ وَصَفِيَّةُ بِنْتُ حُيَيٍّ قَدْ أَرْدَفَهَا رَسُولُ اللهِ ﷺ خَلْفَهُ فَعَثَرَتْ نَاقَتُهُ فَصَرَعَتْهُ اقْتَحَمَ أَبُو طَلْحَةَ قَالَ جَعَلَنِي اللهُ فِدَاكَ يَا رَسُولَ اللهِ قَالَ «عَلَيْكَ الْمَرْأَةَ» فَقَلَبَ ثَوْبَهُ عَلَى وَجْهِهِ حَتَّى أَتَاهَا فَقَذَفَهُ عَلَيْهَا وَأَصْلَحَ لَهُمَا مَرْكَبَهُمَا فَرَكِبَا وَاكْتَنَفْنَا رَسُولَ اللهِ ﷺ فَلَمَّا أَشْرَفَ عَلَى الْمَدِينَةِ قَالَ «آيِبُونَ تَائِبُونَ عَابِدُونَ لِرَبِّنَا حَامِدُونَ» فَلَمْ يَزَلْ يَقُولُ ذَلِكَ حَتَّى دَخَلْنَا الْمَدِينَةَ