(30) باب إِذَا قَامَ مِنْ مَجْلِسٍ ثُمَّ رَجَعَ
Narrated AbudDarda':
The Messenger of Allah (ﷺ) would sit and we would also sit around him. If he got up intending to return, he would take off his sandals or something he was wearing, and his Companions recognising his purpose (that he would return) would stay where they were.
Reference: Sunan Abi Dawud 4854
In-book reference: Book 43, Hadith 82
English translation: Book 42, Hadith 4836