Is it permissible for a group who heard the adhan to pray in congregation at home?

Question:
He says: Honorable Shaykh, may Allah grant you success, is it a condition for the congregational prayer that it be in a mosque, or is it permissible for them to hear the call and pray in congregation at home?

Answer:
No, it is not permissible. The Messenger (peace and blessings be upon him) threatened those who lagged behind, even though they were a group, even though they were in their homes as a group who could have prayed. So the Messenger (peace and blessings be upon him) said that they did not pray in congregation in their homes. It is highly likely that they were praying in congregation in their homes, and yet he threatened them with the fire. Yes. Allah the Exalted knows best, and may Allah send prayers and peace upon our Prophet Muhammad, and upon his family and his Companions.