Sunan Abi Dawud Book 15, Hadith 53
The name of the narrator Abu al-'Abbas, a poet, is al-Sa'ib b. Farrukh.
A man came to the Messenger of Allah (ﷺ) and said: I came to you to take the oath of allegiance to you on emigration, and I left my parents weeping. He (the Prophet) said: Return to them and make them laugh as you made them weep.
A man emigrated to the Messenger of Allah (ﷺ) from the Yemen. He asked (him): Have you anyone (of your relatives) in the Yemen? He replied: My parents. He asked: Did they permit you? He replied: No. He said: Go back to them and ask for their permission. If they permit you, then fight (in the path of Allah), otherwise be devoted to them.