Sayyidina Abu Hurayrah (RA) reported that while returning from Khaybar to Madinah in the night, Allah’s Messenger (SAW) felt sleepy. He made the camel kneel down and went to sleep. He said, “O Bilal, keep vigil tonight.” Bilal offered salah and reclining on his camel-saddle, waited for dawn. But his eyes were overcome by sleep and he (too) slept. Then, none of them woke up until the Prophet (SAW) was the first to wake up and he said, “O Bilal!” Bilal said, “May my parents be ransomed to you, O Messenger of Allah! The same thing took over me as took over you.” So, Allah’s Messenger (SAW) said, “Saddle the camels.” After a little journey, they stopped the camels again, made ablution and stood up for salah. He offered salah like the salah at its time with gentle pauses. Then he said: "Establish salah for my remembrance." (20: 14)
[Muslim 680, Ibn e Majah 697, Abu Dawud 435]