From Sahih Bukhari (Hadith 6246):
Narrated Abu Huraira:I entered (the house) along with Allah's Messenger (ﷺ) . There he found milk in a basin. He said, "O Abu Hirr! Go and call the people of Suffa to me." I went to them and invited them. They came and asked permission to enter, and when it was given, they entered. (See Hadith No. 459 for details)
Reference: Bukhari 6246