From Sahih Muslim (Hadith 6264):
Ibn 'Umar reported that Allah's Messenger (ﷺ) sent an expedition and appointed Usama b. Zaid as its chief. The people objected to his command, whereupon Allah's Messenger (ﷺ) stood up and said:You object to his command and before this you objected to the command of his father (Zaid). By Allah, he was fit as the commander and he was one of the dearest of persons to me and after him, behold! this one (Usama) is one of the dearest of persons to me
Reference: Muslim 6264