The Salat was made compulsory on all the holy messengers of Allah right from the Holy Prophet Hadrath Adam (A.) to till date. However the number & mode was different. & now in Islamic shariat the procedure prescribed is most perfect.
Companion of the Prophet ﷺ al-Khulafaa'u ar-Raashiduun ("the Rightly Guided Caliphs") Amiir al-Mu'miniin ("Commander of the Faithful") ash-Shiddiq ("the Truthful") Abuu Bakr Abdullah bin Abii Quhaafah (RA)