"A man asked the Prophet whether he could perform prayer in a garment in which he had intercourse with his wife. He said: 'Yes, unless he sees something on it, in which case he should wash it.'"
Sunan Ibn Majah Book 1, Hadith 276
← Previous 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 Next Hadith → "Jarir bin 'Abdullah urinated, then he performed ablution and wiped over his leather socks. Someone asked him: 'Do you do this?' He said: 'Why shouldn't I? I saw the Messenger of Allah doing this.'" Ibrahim (who narrated it from Hammam) said: "They were pleased by the Hadith of Jarir because he accepted Islam after the revelation of Ma'idah."

Sunan Ibn Majah Book 1, Hadith 277