Zaid b. Arqam, on seeing some people praying in the forenoon, said
They well know that prayer at another time than this is more excellent, for Allah's Messenger (ﷺ) said: The prayer of those who are penitent is observed when your weaned camels feel the heat of the sun.
Zaid b. Arqam reported that the Messenger of Allah (ﷺ) went out to the people of Quba' and saw them observing prayer; upon this he said
The prayer of the penitent should be observed when the young weaned camels feel heat of the sun.