From Sahih Muslim (Hadith 5951):
Jabir b. 'Abdullah al-Ansiri, who was one amongst the Companions of Allah's Apostle (ﷺ), reported that he went on an expedition along with Allah's Messenger (ﷺ) towards Najd and Allah's Messenger (ﷺ) stayed there, and when Allah's Messenger (ﷺ) came back he also came back along with him. They, for one day, stayed for rest; the rest of the hadith is the same
Reference: Muslim 5951