Sunan at-Tirmidhi (Jami-al-Tirmidhi), Chapter: Taharah (Purification)

reported that when Sayyidina Jabir bin Abdullah (RA) performed ablution after he had passed urine, he merely wipe over his socks (instead of washing his feet). He was asked why he did so, he said, "What prevents me from it when I observed Allah's Messenger (SAW) do that?" The narrator said, "We regard this hadith highly because he embraced Islam after the revelation of surah al-Ma'idah." [Ahmed19189, Bukhari 387, Nisai 118,774, Ibn e Majah 453, Muslim 272]