From Sahih Muslim (Hadith 1213):
Abu Qatada al-Ansari reported:I saw the Apostle (ﷺ) leading the people in prayer with Umima, daughter of Abu'l-'As and Zainab, daughter of the Messenger of Allah (ﷺ), on his shoulder. When he bowed, he put her down, and when he got up after prostration, he lifted her again
Reference: Muslim 1213