" Had this (Nafl) prayer become obligatory for you, you would not be able to observe it."
Sahih Muslim Book 6, Hadith 254
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The Messenger of Allah (ﷺ) made an apartment with the help of the leaves of date trees or of mats. The Messenger of Allah (ﷺ) went out to pray in it. People followed him and came to pray with him. Then they again came one night and waited (for him), but the Messenger of Allah (ﷺ) delayed in coming out to them. And when he did not come out, they cried aloud and threw pebbles at the door. The Messenger of Allah (ﷺ) came out in anger and said to them: By what you have been constantly doing, I was inclined to think that it (prayer) might not become obligatory for you. So you must observe prayer (optional) in your houses, for the prayer observed by a man in the house is better except an obligatory prayer.
Sahih Muslim Book 6, Hadith 253 Next Hadith → O people, perform such acts as you are capable of doing, for Allah does not grow weary but you will get tired. The acts most pleasing to Allah are those which are done continuously, even if they are small. And it was the habit of the members of Muhammad's (ﷺ) household that whenever they did an act they did it continuously.
Sahih Muslim Book 6, Hadith 255
Sahih Muslim Book 6, Hadith 253 Next Hadith → O people, perform such acts as you are capable of doing, for Allah does not grow weary but you will get tired. The acts most pleasing to Allah are those which are done continuously, even if they are small. And it was the habit of the members of Muhammad's (ﷺ) household that whenever they did an act they did it continuously.
Sahih Muslim Book 6, Hadith 255