Salim ibn AbulJa'dah said: A man said: (Mis'ar said: I think he was from the tribe of Khuza'ah): would that I had prayed, and got comfort. The people objected to him for it. Thereupon he said: I heard the Messenger of Allah ﷺ as saying: O Bilal, call iqamah for prayer: give us comfort by it. (Using translation from Abū Dāʾūd 4985)
صَلَّيْتُ فَاسْتَرَحْتُ فَكَأَنَّهُمْ عَابُوا ذَلِكَ عَلَيْهِ فَقَالَ سَمِعْتُ رَسُولَ اللهِ ﷺ يَقُولُ «يَا بِلَالُ أَقِمِ الصَّلَاةَ أَرِحْنَا»