Zaid b. Arqam, on seeing some people praying in the forenoon, said

They well know that prayer at another time than this is more excellent. Allah's Messenger ﷺ said, “The prayer of those who are penitent is observed when the young weaned camels feel the heat of the sun.”* * Young camels are said to feel the sand too hot when a quarter of the day has passed. Muslim transmitted it.