One day, Prophet Mohammad (PBUH) called Hazrat Bilal (r.a) in early morning and said "O Bilal! For what action you are entered in Paradise earlier than me? Tonight when i entered Paradise, i heard sound of your feet walking ahead of me"
Hazrat Bilal (r.a) said "O Allah's Messenger (PBUH),
(1) Whenever some sin is committed by me, i offer two-rakat of Salat-ul-Toba (prayer asking forgiveness)
(2) And whenever i have to break ablution (to answer call of nature etc), i perform ablution (after i'm done answering call of nature) and offer two-rakats nafil (Prayer of Ablution - Tahayyat-ul-wuzo)
[Muslim, Bukhari:Kitab-ul-Jannah]