The Messenger of Allah (ﷺ) would sit and we would also sit around him. If he got up intending to return, he would take off his sandals or something he was wearing, and his Companions recognising his purpose (that he would return) would stay where they were.
Sunan Abi Dawud Book 43, Hadith 82
← Previous Hadith I was sitting with my father and there was also a boy with him. He got up and then returned. So my father mentioned a tradition on the authority of Abu Hurairah from the Prophet (ﷺ) saying: If anyone gets up from where he has been sitting and comes back to it, he has most right to it.

Sunan Abi Dawud Book 43, Hadith 81 Next Hadith → The Prophet (ﷺ) said: People who get up from an assembly in which they did not remember Allah will be just as if they had got up from an ass's corpse, and it will be a cause of grief to them.

Sunan Abi Dawud Book 43, Hadith 83