Mishkat al-Masabih #481
Purification
The Arabic includes the chain of narration (sanad) and the collector's commentary; the English translation shows the Prophet's words only.
وَعَن صَفْوَان بن عَسَّال قَالَ: كَانَ رَسُولُ اللَّهِ صَلَّى اللَّهُ عَلَيْهِ وَسَلَّمَ يَأْمُرُنَا إِذَا كُنَّا سَفَرًا أَنْ لَا نَنْزِعَ خِفَافَنَا ثَلَاثَةَ أَيَّامٍ وَلَيَالِيَهُنَّ إِلَّا مِنْ جَنَابَةٍ وَلَكِنْ مِنْ غَائِطٍ وَبَوْلٍ وَنَوْمٍ. رَوَاهُ التِّرْمِذِيّ وَالنَّسَائِيّ
Safwan b. ‘Assal said, “God’s messenger used to command us, when we were travelling, not to take off our shoes for three days and nights except for seminal defilement, and not to do so on account of easing ourselves, passing water, or sleeping.”
Tirmidhi and Nasa'i transmitted it.
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About Mishkat al-Masabih
This hadith is #481 from Mishkat al-Masabih, in the Book of Purification.