Mishkat al-Masabih 518
Al-Mughira b. Shu'ba, telling that he had gone with God’s messenger on the expedition to Tabuk, said:
God’s messenger relieved himself beside some low ground before the morning prayer, and I went with him carrying a small water-skin. When he came back I began to pour water from the skin over his hands, and he washed his hands and face. He was wearing a long-sleeved woollen gown, and tried to get his forearms out, but the sleeve of the gown was too narrow, so he brought his hands out from under the gown, and throwing it over his shoulders, he washed his forearms. Then he wiped his forelock and over his turban. I was then about to remove his shoes when he said, “Leave them, for my feet were pure when I put them in”; so he rubbed over them, and he and I mounted our beasts and came to the people. They had begun the prayer with ‘Abd ar-Rahman b. ‘Auf leading them, and he had performed a rak'a with them, but when he was aware of the Prophet’s presence he began to retire. The Prophet, however, signed to him to continue and performed one of the rak'as along with him. Then when he had pronounced the salutation the Prophet got up, and I got up along with him, and we performed the rak‘a which had been finished before we came. 

Muslim transmitted it.
وَعَن عُرْوَة بن الْمُغيرَة بن شُعْبَة عَن أَبِيه قَالَ: أَنَّهُ غَزَا مَعَ رَسُولِ اللَّهِ صَلَّى اللَّهُ عَلَيْهِ وَسَلَّمَ غَزْوَةَ تَبُوكَ. قَالَ الْمُغِيرَةُ: فَتَبَرَّزَ رَسُولِ اللَّهِ صَلَّى اللَّهُ عَلَيْهِ وَسَلَّمَ قِبَلَ الْغَائِط فَحملت مَعَه إدواة قَبْلَ الْفَجْرِ فَلَمَّا رَجَعَ أَخَذْتُ أُهَرِيقُ عَلَى يَدَيْهِ من الإدواة فَغسل كفيه وَوَجْهَهُ وَعَلَيْهِ جُبَّةٌ مِنْ صُوفٍ ذَهَبَ يَحْسِرُ عَن ذِرَاعَيْهِ فَضَاقَ كم الْجُبَّة فَأخْرج يَده مِنْ تَحْتِ الْجُبَّةِ وَأَلْقَى الْجُبَّةَ عَلَى مَنْكِبَيْهِ وَغسل ذِرَاعَيْهِ وَمسح بناصيته وعَلى الْعِمَامَة وعَلى خفيه ثُمَّ رَكِبَ وَرَكِبْتُ فَانْتَهَيْنَا إِلَى الْقَوْمِ وَقَدْ قَامُوا فِي الصَّلَاة يُصَلِّي بِهِمْ عَبْدُ الرَّحْمَنِ بْنُ عَوْفٍ وَقَدْ رَكَعَ بِهِمْ رَكْعَةً فَلَمَّا أَحَسَّ بِالنَّبِيِّ صَلَّى اللَّهُ عَلَيْهِ وَسلم ذهب يتَأَخَّر فَأَوْمأ إِلَيْهِ فصلى بهم فَلَمَّا سلم قَامَ النَّبِيُّ صَلَّى اللَّهُ عَلَيْهِ وَسَلَّمَ وَقُمْتُ فَرَكَعْنَا الرَّكْعَة الَّتِي سبقتنا. رَوَاهُ مُسلم