Narrated Anas bin Malik:

We were in the company of the Prophet while returning from 'Usfan, and Allah's Apostle was riding his she-camel keeping Safiya bint Huyay riding behind him. His she-camel slipped and both of them fell down. Abu Talha jumped from his camel and said, "O Allah's Apostle! May Allah sacrifice me for you." The Prophet ﷺ said, "Take care of the lady." So, Abu Talha covered his face with a garment and went to Safiya and covered her with it, and then he set right the condition of their shecamel so that both of them rode, and we were encircling Allah's Apostle like a cover. When we approached Medina, the Prophet ﷺ said, "We are returning with repentance and worshipping and praising our Lord." He kept on saying this till he entered Medina.

حَدَّثَنَا أَبُو مَعْمَرٍ، حَدَّثَنَا عَبْدُ الْوَارِثِ، قَالَ حَدَّثَنِي يَحْيَى بْنُ أَبِي إِسْحَاقَ، عَنْ أَنَسِ بْنِ مَالِكٍ ـ رضى الله عنه ـ قَالَ كُنَّا مَعَ النَّبِيِّ ﷺ مَقْفَلَهُ مِنْ عُسْفَانَ، وَرَسُولُ اللَّهِ ﷺ عَلَى رَاحِلَتِهِ، وَقَدْ أَرْدَفَ صَفِيَّةَ بِنْتَ حُيَىٍّ، فَعَثَرَتْ نَاقَتُهُ فَصُرِعَا جَمِيعًا، فَاقْتَحَمَ أَبُو طَلْحَةَ فَقَالَ يَا رَسُولَ اللَّهِ، جَعَلَنِي اللَّهُ فِدَاءَكَ. قَالَ " عَلَيْكَ الْمَرْأَةَ ". فَقَلَبَ ثَوْبًا عَلَى وَجْهِهِ وَأَتَاهَا، فَأَلْقَاهَا عَلَيْهَا وَأَصْلَحَ لَهُمَا مَرْكَبَهُمَا فَرَكِبَا، وَاكْتَنَفْنَا رَسُولَ اللَّهِ ﷺ، فَلَمَّا أَشْرَفْنَا عَلَى الْمَدِينَةِ قَالَ " آيِبُونَ تَائِبُونَ عَابِدُونَ لِرَبِّنَا حَامِدُونَ ". فَلَمْ يَزَلْ يَقُولُ ذَلِكَ حَتَّى دَخَلَ الْمَدِينَةَ.