From Sahih Muslim (Hadith 3799):
Abu Huraira (Allah be pleased with him) reported Allah's Messenger (ﷺ) as saying:A son does not repay what he owes his father unless he buys him (the father) in case he is a slave and then emancipates him. In the narration transmitted by Ibn Abu Shaiba there is a slight change of words
Reference: Muslim 3799