Authentic
graded by Al-Albani
Mishkat al-Masabih 1253
وَعَن سَالم بن أبي الْجَعْد قَالَ: قَالَ رَجُلٌ مِنْ خُزَاعَةَ: لَيْتَنِي صَلَّيْتُ فَاسْتَرَحْتُ فَكَأَنَّهُمْ عَابُوا ذَلِكَ عَلَيْهِ فَقَالَ: سَمِعْتُ رَسُولَ اللَّهِ صَلَّى اللَّهُ عَلَيْهِ وَسَلَّمَ يَقُول: «أَقِمِ الصَّلَاةَ يَا بِلَالُ أَرِحْنَا بِهَا» . رَوَاهُ أَبُو دَاوُد
Salim b. Abul Ja'd told of a man of Khuza'a saying, “I wish I had prayed and been at rest.” When the people seemed to disapprove of his saying that, he replied that he had heard God’s Messenger say, “Declare that the time for prayer has come, Bilal, and give us rest by it.”* * This probably means that prayer brings peace of mind. Abu Dawud transmitted it.
Cited in Mishkat al-Masabih (No. 1253).