It is stated in Tafseer Siraat-ul-Jinaan: When the Final Prophet of Allah Almighty, Sayyiduna Muhammad صَلَّى الـلّٰـهُ عَلَيْهِ وَاٰلِهٖ وَسَلَّم, arrived in Madinah al-Munawwarah, he was commanded to pray Salah in the direction of Bayt-ul-Muqaddas. Acting in accordance to this command of Allah Almighty, the Beloved Prophet صَلَّى الـلّٰـهُ عَلَيْهِ وَاٰلِهٖ وَسَلَّم began to offer Salah while facing that direction. However, it was the desire of the Noble Prophet صَلَّى الـلّٰـهُ عَلَيْهِ وَاٰلِهٖ وَسَلَّم that the Ka’bah becomes the Qiblah of the Muslims.

While praying Salah one day, the Beloved Prophet صَلَّى الـلّٰـهُ عَلَيْهِ وَاٰلِهٖ وَسَلَّم kept on looking towards the sky with the hope that the command to change the Qiblah would come. Upon this, the blessed verse was revealed during the Salah, in which the pleasure of the Beloved Prophet صَلَّى الـلّٰـهُ عَلَيْهِ وَاٰلِهٖ وَسَلَّم is declared as the pleasure of Allah, and in mentioning the beautiful manner of that luminous face in the Quran, and in accordance to the wish and happiness of the Beloved Prophet صَلَّى الـلّٰـهُ عَلَيْهِ وَاٰلِهٖ وَسَلَّم, the Ka’bah was made the Qiblah.

Thus, he صَلَّى الـلّٰـهُ عَلَيْهِ وَاٰلِهٖ وَسَلَّم turned towards the Ka’bah while in Salah, and all of the Muslims also turned their faces in that direction with him, thus, two Rak’at of Zuhr were prayed in the direction of Bayt-ul-Muqaddas and two Rak’at were prayed in the direction of the Ka’bah. (Tafseer Siraat-ul-Jinaan, vol. 1, p. 233, selected)

This is the verse that was revealed:

قَدْ نَرٰى تَقَلُّبَ وَجْهِكَ فِی السَّمَآءِۚ-فَلَنُوَلِّیَنَّكَ قِبْلَةً تَرْضٰىهَا۪-فَوَلِّ وَجْهَكَ شَطْرَ الْمَسْجِدِ الْحَرَامِؕ-وَ حَیْثُ مَا كُنْتُمْ فَوَلُّوْا وُجُوْهَكُمْ شَطْرَهٗؕ-

We are observing the turning of your face repeatedly towards the sky, so, We will definitely turn you towards that Qiblah in which you are (more)