From Sahih Muslim (Hadith 7006):
Anas reported that a person came to Allah's Apostle (ﷺ) said:Allah's Messenger, I have committed an offence which deserves imposition of haad, so impose it upon me according to the Book of Allah. Thereupon he said: Were you not present with us at the time of prayer? He said: Yes. Thereupon he said: You have been granted pardon
Reference: Muslim 7006