Ash-Shama'il Al-Muhammadiyah: Sayyidina Rasoolullah Performing Nawaafil At Home

Abdu’llah ibn Sa'd said:
"I asked Allah’s Messenger (Allah bless him and give him peace) about performing the ritual prayer in my home, and performing it in the mosque." He said: “You may notice how near my home is to the mosque. I prefer praying at home over praying in the mosque, except in the case of a prescribed ritual prayer.”
Reference : Ash-Shama'il Al-Muhammadiyah 296
In-book reference : Book 42, Hadith 1