Hadith al-Thaqalayn

Yes. It is reported from Zaid bin Arqam that one day the Messenger of Allah (peace be upon him and his progeny) stood and addressed the people at a watering place called Khumm, between Makkah and Al-Madinah. He praised and glorified Allah, then said:

“O people, I am only human, and soon the messenger of my Lord will come to me and I will respond. I am leaving among you two weighty things, the first of which is the Book of Allah in which is guidance and light. Follow the Book of Allah and hold fast to it. And the people of my household, I remind you of Allah with regard to the people of my household.”

Reference: Sahih Muslim, Vol. 6, the Book of the Virtue of the Companions, #6225.