al-Laith bin Sa'd الليث بن سعد · The Book of Salah

"We were with the Messenger of Allah (ﷺ) and he said: 'Will you not pledge to the Messenger of Allah (ﷺ)?' And he repeated it three times. So we stretched forth our hands to give our pledge. We said: 'O Messenger of Allah, we are willing to give you our pledge, but on what?' He said: 'That you will worship Allah and not associate anything with him, and (offer) the five daily prayers.' And he said, very quietly: 'And you…

It was narrated from Anas bin Malik that the Prophet (ﷺ) prayed Zuhr in Al-Madinah, four Rak'ahs, and he prayed 'Asr in Dhul-Hulaifah, two Rak'ahs.