From Sahih Bukhari (Hadith 5793):
Narrated `Ali:The Prophet (ﷺ) asked for his Rida, put it on and set out walking. Zaid bin Haritha and I followed him till he reached the house where Harnza (bin `Abdul Muttalib) was present and asked for permission to enter, and they gave us permission
Reference: Bukhari 5793