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  

[Machine] The Messenger of Allah ﷺ prayed Fajr in Mina, then he turned and saw two men behind the people. So, he called them and they came to him trembling. He said, "What prevented you from praying with the people?" They said, "We had already prayed in our camp." He said, "Do not do so if one of you has prayed in his camp, and then he catches up with the prayer led by the imam, then he should still pray it with him, for it will be a voluntary prayer for him."  

صَلَّى رَسُولُ اللهِ ﷺ الْفَجْرَ بِمِنًى فَانْحَرَفَ فَرَأَى رَجُلَيْنِ مِنْ وَرَاءَ النَّاسِ فَدَعَا بِهِمَا فَجِيءَ بِهِمَا تَرْعَدُ فَرَائِصُهُمَا فَقَالَ مَا مَنَعَكُمَا أَنْ تُصَلِّيَا مَعَ النَّاسِ؟ فَقَالَا قَدْ كُنَّا صَلَّيْنَا فِي الرِّحَالِ قَالَ فَلَا تَفْعَلَا إِذَا صَلَّى أَحَدُكُمْ فِي رَحْلِهِ ثُمَّ أَدْرَكَ الصَّلَاةَ مَعَ الْإِمَامِ فَلْيُصَلِّهَا مَعَهُ فَإِنَّهَا لَهُنَافِلَةٌ