The Prophet (ﷺ) led his Companions in the Fear Prayer in the seventh Ghazwa i.e. the Ghazwa of Dhat-ur-Riqa. Ibn Abbas said, "The Prophet (ﷺ) offered the Fear Prayer at a place called Dhi-Qarad."
Sahih al-Bukhari Book 64, Hadith 169
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Sahih al-Bukhari Book 64, Hadith 168 Next Hadith → Jabir said that the Prophet (ﷺ) led the people in the Fear Prayer on the day of Muharib and Tha'laba (i.e. the day of the battle of Dhat-ur-Riqa').

Sahih al-Bukhari Book 64, Hadith 170