Qur'anic verses - The Night Journey:

This is a reference to Prophet Muhammad's remarkable Night Journey from the Sacred Mosque in Makkah to the Farthest Mosque in Jerusalem in 621 AD. This event is known as the Isra' in Arabic. The Journey then continued with ascending to the Heavens on the same night where the Prophet met other prophets as he ascended through each of the Seven Heavens. This is known as Mi'raj in Arabic. Thus, the Isra' and Mi'raj are two parts of a Journey which occurred in one night. In his ascending to the Heavens, the Prophet saw the Angel, Gabriel, for the second time in his original shape, since the first appearance was that at Mount al-Nur in the suburb of Makkah when Muhammad received the first Qur'anic revelation.

For indeed he saw him at a second descent, near the Lote-tree beyond which none may pass, near it is the Garden of Abode.
[Qur'an 53:13-15]

The Prophet saw also the greatest signs of his Lord, but that would not indicate seeing God himself. God said:

No vision can grasp Him, but He grasps all vision.
[Qur'an 6:103]

Nor God would speak directly to Man, including all prophets, peace be upon them. God said:

It is not given to any human being that God should speak to him unless (it be) by revelation, or from behind a veil.
[Qur'an 42:51]

In this Night Journey, God enjoined on the Prophet the five daily prayers.