Narrated Anas bin Malik:

That he and Abu Talha came in the company of the Prophet and Safiya was accompanying the Prophet, who let her ride behind him on his she-camel. During the journey, the she-camel slipped and both the Prophet and (his) wife fell down. Abu Talha (the sub-narrator thinks that Anas said that Abu Talha jumped from his camel quickly) said, "O Allah's Apostle! May Allah sacrifice me for your sake! Did you get hurt?" The Prophet replied,"No, but take care of the lady." Abu Talha covered his face with his garment and proceeded towards her and covered her with his garment, and she got up. He then set right the condition of their she-camel and both of them (i.e. the Prophet and his wife) rode and proceeded till they approached Medina. The Prophet ﷺ said, "We are returning with repentance and worshipping and praising our Lord." The Prophet kept on saying this statement till he entered Medina.

حَدَّثَنَا عَلِيٌّ، حَدَّثَنَا بِشْرُ بْنُ الْمُفَضَّلِ، حَدَّثَنَا يَحْيَى بْنُ أَبِي إِسْحَاقَ، عَنْ أَنَسِ بْنِ مَالِكٍ ـ رضى الله عنه أَنَّهُ أَقْبَلَ هُوَ وَأَبُو طَلْحَةَ مَعَ النَّبِيِّ ﷺ وَمَعَ النَّبِيِّ ﷺ صَفِيَّةُ مُرْدِفَهَا عَلَى رَاحِلَتِهِ، فَلَمَّا كَانُوا بِبَعْضِ الطَّرِيقِ عَثَرَتِ النَّاقَةُ، فَصُرِعَ النَّبِيُّ ﷺ وَالْمَرْأَةُ، وَإِنَّ أَبَا طَلْحَةَ ـ قَالَ أَحْسِبُ قَالَ ـ اقْتَحَمَ عَنْ بَعِيرِهِ فَأَتَى رَسُولَ اللَّهِ ﷺ فَقَالَ يَا نَبِيَّ اللَّهِ جَعَلَنِي اللَّهُ فِدَاءَكَ، هَلْ أَصَابَكَ مِنْ شَىْءٍ قَالَ " لاَ، وَلَكِنْ عَلَيْكَ بِالْمَرْأَةِ ". فَأَلْقَى أَبُو طَلْحَةَ ثَوْبَهُ عَلَى وَجْهِهِ، فَقَصَدَ قَصْدَهَا فَأَلْقَى ثَوْبَهُ عَلَيْهَا، فَقَامَتِ الْمَرْأَةُ، فَشَدَّ لَهُمَا عَلَى رَاحِلَتِهِمَا فَرَكِبَا، فَسَارُوا حَتَّى إِذَا كَانُوا بِظَهْرِ الْمَدِينَةِ ـ أَوْ قَالَ أَشْرَفُوا عَلَى الْمَدِينَةِ ـ قَالَ النَّبِيُّ ﷺ " آيِبُونَ تَائِبُونَ عَابِدُونَ لِرَبِّنَا حَامِدُونَ ". فَلَمْ يَزَلْ يَقُولُهَا حَتَّى دَخَلَ الْمَدِينَةَ.