The Prophet's death was impending, and he had commanded all his companions to join Usama ibn Zayd's army to go fight the Romans. Usama was a young man, and many companions chaffed at being put under the leadership of something that age. The prophet, while sick, had to rebuke them to send them back to the army.
Despite his illness, the Prophet would still go lead prayer at the masjid. After the prayer he summoned some sahaba who were supposed to have left with Usama, including Abu Bakr and Umar asking "Why have you delayed obeying my order?" and heard back feeble answers in response. He scolded them, repeatning the instruction to join the army.
Another day, the Prophet was too ill to lead salaat, and Aisha and Hafsa each suggested their fathers, Abu Bakr and Umar, lead the salaat instead. The Prophet realized those men were still in town and that these two women were eager to promote their own fathers. He scolded the two saying "Stop, for you are like the female companions of Yusuf"
The Abu Bark and Umar containued to stay in Medina until the Prophet's demise, ignoring his orders to leave.
Lecture notes available at http://www.why-quran.org/?p=792.
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