Repeating a prayer with the congregation when a man has already prayed by himself

It was narrated from Mihjan that he was in a gathering with the Messenger of Allah ﷺ when the Adhan was called for prayer. The A Messenger of Allah ﷺ got up, then he came back and Mihjan was still sitting there. The Messenger of Allah ﷺ said to him:

"What kept you from praying? Are you not a Muslim man?" He said: "Yes, but I had already prayed with my family." The Messenger of Allah ﷺ said to him: "When you come you should pray with the people even if you have already prayed."

أَخْبَرَنَا قُتَيْبَةُ، عَنْ مَالِكٍ، عَنِ زَيْدِ بْنِ أَسْلَمَ، عَنْ رَجُلٍ، مِنْ بَنِي الدِّيلِ يُقَالُ لَهُ بُسْرُ بْنُ مِحْجَنٍ عَنْ مِحْجَنٍ، أَنَّهُ كَانَ فِي مَجْلِسٍ مَعَ رَسُولِ اللَّهِ ﷺ فَأَذَّنَ بِالصَّلاَةِ - فَقَامَ رَسُولُ اللَّهِ ﷺ ثُمَّ رَجَعَ وَمِحْجَنٌ فِي مَجْلِسِهِ - فَقَالَ لَهُ رَسُولُ اللَّهِ ﷺ " مَا مَنَعَكَ أَنْ تُصَلِّيَ أَلَسْتَ بِرَجُلٍ مُسْلِمٍ " . قَالَ بَلَى وَلَكِنِّي كُنْتُ قَدْ صَلَّيْتُ فِي أَهْلِي فَقَالَ لَهُ رَسُولُ اللَّهِ ﷺ " إِذَا جِئْتَ فَصَلِّ مَعَ النَّاسِ وَإِنْ كُنْتَ قَدْ صَلَّيْتَ " .