Musnad Ahmad 651:2

Muhammad ibn Ja'far narrated to us, Sa'id narrated to us, from Qatadah, from Hanzalah al-Usaydi, that the Messenger of Allah (peace and blessings of Allah be upon him) said: "Whoever maintains the five prayers, [observing] their ablution, their appointed times, their bowing, and their prostration, seeing them as a right of Allah upon him, the Fire is forbidden to him."