From Sahih Muslim (Hadith 3235):
Salim narrated on the authority of his father (Allah be pleased with him) that Allah's Messenger (ﷺ) entered the House along with Usama b. Zaid, Bilal and Uthman b. Talha. They closed the door from within, and, as they opened it, I was the first to get into it and meet Bilal, and I asked him:Did Allah's Messenger (ﷺ) observe prayer in it? He said: Yes, he observed prayer between these two Yemenite pillars (pillars situated towards the side of Yemen)
Reference: Muslim 3235