Sahih Muslim 13a

Muhammad ibn Abdullah ibn Numayr narrated to us; my father narrated to us; Amr ibn Uthman narrated to us; Musa ibn Talhah narrated to us, who said: Abu Ayyub narrated to me that a Bedouin intercepted the Messenger of Allah (peace and blessings be upon him) while he was on a journey. He took hold of the halter—or reins—of his she-camel and said, ‘Messenger of Allah—or Muhammad—tell me what will bring me near to Paradise and keep me far from the Fire.’ The Prophet paused, then looked at his Companions and said, ‘He has indeed been granted success—or indeed he has been guided.’ He said, ‘What did you say?’ The man repeated it. The Prophet (peace and blessings be upon him) said, ‘Worship Allah and associate nothing with Him; establish the prayer, give the zakat, and maintain kinship ties. Let the she-camel go.’