It was narrated that Jabir bin Samurah said:
"A man asked the Prophet whether he could perform prayer in a garment in which he had intercourse with his wife. He said: 'Yes, unless he sees something on it, in which case he should wash it.'" (AR)
English reference (AR): Vol. 1, Book 1, Hadith 542 (AR)
Arabic reference (AR): Book 1, Hadith 585 (AR)