Sunan Abi Dawud Book 2, Hadith 55
Yazid b. Salih (instead of Yazid b. Sulaih).
We were in the company of the Messenger of Allah (ﷺ) during one of his journeys. He overslept abandoning the morning prayer until the sun had arisen. The Messenger of Allah (ﷺ) awoke and said: Go away from this place.
He then commanded Bilal to call for prayer. He called for prayer. They (the people) performed ablution and offered two rak'ahs of the morning prayer (sunnah prayer). He then commanded Bilal (to utter the iqamah, i.e. to summon the people to attend the prayer). He announced the prayer (i.e. uttered the iqamah) and he led them in the morning prayer.
"He (Bilal) called for prayer unhurriedly."