Did the Prophet (peace be upon him) see Bilal in Paradise preceding him?

The Prophet (peace be upon him) heard the shuffle of Bilal’s sandals in front of him in Paradise, so he asked him about the most hopeful deed he had done. Bilal mentioned that he never purified himself, by night or day, except that he prayed with that purification what was decreed for him. This does not mean that Bilal will enter Paradise before the Prophet (peace be upon him), for the Prophet informed that Paradise will not be opened for anyone before him on the Day of Judgment. Scholars have interpreted this by saying that the sight of the shuffle of the sandals was a representation of Bilal’s custom of walking in front of the Prophet in this world, or to encourage him to perform good deeds.