Musnad Abu Ya'la al-Mawsili 42:58

Abu Bakr narrated to us, Khalaf ibn Khalifah narrated to us, from al-Ala’ ibn al-Musayyab, from his father, from Abu Sa’id, who attributed it to the Prophet (ﷺ): "Indeed, Allah says: 'Any servant whose body I have made healthy and upon whom I have expanded his livelihood, if five years pass over him without him coming to Me [in pilgrimage], he is truly deprived.'"