The Prophet (ﷺ) (ﷺ) led his Companions in the Fear Prayer in the seventh Ghazwa i.e. the Ghazwa of Dhat-ur-Riqa. Ibn Abbas said, The Prophet (ﷺ) (ﷺ) offered the Fear Prayer at a place called Dhi-Qarad.

Abu Musa said, We went out in the company of the Prophet (ﷺ) for a Ghazwa and we were six persons having one camel which we rode in rotation. So, (due to excessive walking) our feet became thin and my feet became thin and my nail dropped, and we used to wrap our feet with the pieces of cloth, and for this reason, the Ghazwa was named Dhat-ur-Riqa as we wrapped our feet with rags. When Abu- Musa narrated this (Hadith), he felt regretful to do so and said, as if he disliked to have disclosed a good deed of his.

Concerning those who witnessed the Fear Prayer that was performed in the battle of Dhat-ur-Riqa' in the company of Allah's Messenger (ﷺ); One batch lined up behind him while another batch (lined up) facing the enemy. The Prophet (ﷺ) led the batch that was with him in one rak`a, and he stayed in the standing posture while that batch completed their (two rak`at) prayer by themselves and went away, lining in the face of the enemy, while the other batch came and he (i.e. the Prophet) offered his remaining rak`a with them, and then, kept on sitting till they completed their prayer by themselves, and he then finished his prayer with Taslim along with them.

(describing the Fear prayer): The Imam stands up facing the Qibla and one batch of them (i.e. the army) (out of the two) prays along with him and the other batch faces the enemy. The Imam offers one rak`a with the first batch they themselves stand up alone and offer one bowing and two prostrations while they are still in their place, and then go away to relieve the second batch, and the second batch comes (and takes the place of the first batch in the prayer behind the Imam) and he offers the second rak`a with them. So he completes his two-rak`at and then the second batch bows and prostrates two prostrations (i.e. complete their second rak`a and thus all complete their prayer).

(This hadith has also been narrated through two other chain by Sahl b. Abi Hathma)

I took part in a Ghazwa towards Najd along with Allah's Messenger (ﷺ) and we clashed with the enemy, and we lined up for them.

Allah's Messenger (ﷺ) led the Fear-prayer with one of the two batches of the army while the other (batch) faced the enemy. Then the first batch went away and took places of their companions (i.e. second batch) and the second batch came and he led his second rak`a with them. Then he (i.e. the Prophet: finished his prayer with Taslim and then each of the two batches got up and completed their remaining one rak`a.

Jabir mentioned that he had participated in a Ghazwa towards Najd in the company of Allah's Messenger (ﷺ) .