'Abdullah (b. Mas'ud) reported:

I have seen the time when no one stayed away from prayer except a hypocrite, whose hypocrisy was well known, or a sick man, but if a sick man could walk between two persons (i.e. with the help of two persons with one on each side) he would come to prayer. And (further) said: The Messenger of Allah (ﷺ) taught us the paths of right guidance, among which is prayer in the mosque in which the Adhan is called.

حَدَّثَنَا أَبُو بَكْرِ بْنُ أَبِي شَيْبَةَ، حَدَّثَنَا مُحَمَّدُ بْنُ بِشْرٍ الْعَبْدِيُّ، حَدَّثَنَا زَكَرِيَّاءُ بْنُ أَبِي زَائِدَةَ، حَدَّثَنَا عَبْدُ الْمَلِكِ بْنُ عُمَيْرٍ، عَنْ أَبِي الأَحْوَصِ، قَالَ قَالَ عَبْدُ اللَّهِ لَقَدْ رَأَيْتُنَا وَمَا يَتَخَلَّفُ عَنِ الصَّلاَةِ إِلاَّ مُنَافِقٌ قَدْ عُلِمَ نِفَاقُهُ أَوْ مَرِيضٌ إِنْ كَانَ الْمَرِيضُ لَيَمْشِي بَيْنَ رَجُلَيْنِ حَتَّى يَأْتِيَ الصَّلاَةَ - وَقَالَ - إِنَّ رَسُولَ اللَّهِ صلى الله عليه وسلم عَلَّمَنَا سُنَنَ الْهُدَى وَإِنَّ مِنْ سُنَنِ الْهُدَى الصَّلاَةَ فِي الْمَسْجِدِ الَّذِي يُؤَذَّنُ فِيهِ ‏.‏