He asked his sister Umm Habibah, the wife of the Prophet: "Did the Messenger of Allah ever offered prayer in a garment in which he had sexual intercourse?" She said: "Yes, if there was nothing noxious on it."
Sunan Ibn Majah Book 1, Hadith 274
← Previous Hadith "I remember when I found it (semen) on the garment of the Messenger of Allah and I scratched it off."

Sunan Ibn Majah Book 1, Hadith 273 Next Hadith → "The Messenger of Allah came out to us with water dripping from his head, and he led us in prayer wearing a single garment, placing its one end on the right shoulder, and the other end on the other shoulder. When he finished praying, 'Umar bin Khattab said to him: 'O Messenger of Allah, did you lead us in prayer wearing a single garment? He said: 'Yes, I perform prayer in it, and in it I (i.e. I had sexual intercourse in it)."

Sunan Ibn Majah Book 1, Hadith 275