Musnad Ahmad 30:134

Ali ibn Ishaq narrated to us, Abdullah—meaning Ibn al-Mubarak—informed us, Muhammad ibn Abi Hafsah informed us, from al-Zuhri, from Abu Salamah, from Abu Hurairah, that the Messenger of Allah (peace and blessings of Allah be upon him) said: "Do not come to the prayer while you are rushing, but walk to it and upon you is tranquility. So whatever you catch, pray it, and whatever you miss, complete it."