On the day of Al-Khandaq (the battle of trench.) `Umar bin Al-Khattab came cursing the disbelievers of Quraish after the sun had set and said, "O Allah's Messenger (ﷺ) I could not offer the `Asr prayer till the sun had set." The Prophet (ﷺ) said, "By Allah! I, too, have not prayed." So we turned towards Buthan, and the Prophet (ﷺ) performed ablution and we too performed ablution and offered the `Asr prayer after the sun had set, and then he offered the Maghrib prayer.
Sahih al-Bukhari Book 9, Hadith 71
← Previous Hadith My father said, "One night we were traveling with the Prophet (ﷺ) and some people said, 'We wish that Allah's Messenger (ﷺ) would take a rest along with us during the last hours of the night.' He said, 'I am afraid that you will sleep and miss the (Fajr) prayer.' Bilal said, 'I will make you get up.' So all slept and Bilal rested his back against his Rahila and he too was overwhelmed (by sleep) and slept. The Prophet (ﷺ) got up when the edge of the sun had risen and said, 'O Bilal! What about your statement?' He replied, 'I have never slept such a sleep.' The Prophet (ﷺ) said, 'Allah captured your souls when He wished, and released them when He wished. O Bilal! Get up and pronounce the Adhan for the prayer.' The Prophet (ﷺ) performed ablution and when the sun came up and became bright, he stood up and prayed."

Sahih al-Bukhari Book 9, Hadith 70 Next Hadith → The Prophet (ﷺ) said, "If anyone forgets a prayer he should pray that prayer when he remembers it. There is no expiation except to pray the same." Then he recited: "Establish prayer for My (i.e. Allah's) remembrance." (20.14).

Sahih al-Bukhari Book 9, Hadith 72