Bilal summoned to prayer as the sun declined but did not pronounce Iqama till the Messenger of Allah (ﷺ) came out and the Iqama was pronounced on seeing him.
Sahih Muslim Book 5, Hadith 204
← Previous Hadith Abu Salama reported on the authority of Abu Huraira that when Iqama was pronounced for the Messenger of Allah (ﷺ), the people occupied their places in the rows before the Messenger of Allah (way peace be upon him) stood up at his place.

Sahih Muslim Book 5, Hadith 203 Next Hadith → He who finds a rak'ah of the prayer, he in fact finds the prayer.

Sahih Muslim Book 5, Hadith 205