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'Abdullah ibn 'Amr said, "A man came to the Prophet, may Allah bless him and grant him peace, and made a pledge to him that he would do hijra. He left his parents who were in tears. The Prophet (ﷺ) said, 'Go back to them and make them laugh as you made them weep.'"
Source: sunnah.com
Other translations
Arabic
حَدَّثَنَا أَبُو نُعَيْمٍ، قَالَ: حَدَّثَنَا سُفْيَانُ، عَنْ عَطَاءِ بْنِ السَّائِبِ، عَنْ أَبِيهِ، عَنْ عَبْدِ اللهِ بْنِ عَمْرٍو قَالَ: جَاءَ رَجُلٌ إِلَى النَّبِيِّ صلى الله عليه وسلم يُبَايِعُهُ عَلَى الْهِجْرَةِ، وَتَرَكَ أَبَوَيْهِ يَبْكِيَانِ، فَقَالَ: ارْجِعْ إِلَيْهِمَا، وَأَضْحِكْهُمَا كَمَا أَبْكَيْتَهُمَا.
sunnah.com