كتاب الْمَسَاجِدِ وَمَوَاضِعِ الصَّلاَةِ
5
The Book of Mosques and Places of Prayer
(19)
Chapter: As-Sahw (forgetfulness) in prayer and prostrating to compensate for it
(19)
باب السَّهْوِ فِي الصَّلاَةِ وَالسُّجُودِ لَهُ ‏

Imran b. Husain reported:

The Messenger of Allah (ﷺ) said three rak'ahs of the 'Asr prayer and then got up and went to his apartment. A man possessing large arms stood up and said: Messenger of Allah, bias the player been shortened? He came out angrily, and said the rak'ah which he had omitted and then gave salutation. then performed two prostrations of forgetfulness and then gave salutation.
وَحَدَّثَنَا إِسْحَاقُ بْنُ إِبْرَاهِيمَ، أَخْبَرَنَا عَبْدُ الْوَهَّابِ الثَّقَفِيُّ، حَدَّثَنَا خَالِدٌ، - وَهُوَ الْحَذَّاءُ - عَنْ أَبِي قِلاَبَةَ، عَنْ أَبِي الْمُهَلَّبِ، عَنْ عِمْرَانَ بْنِ الْحُصَيْنِ، قَالَ سَلَّمَ رَسُولُ اللَّهِ صلى الله عليه وسلم فِي ثَلاَثِ رَكَعَاتٍ مِنَ الْعَصْرِ ثُمَّ قَامَ فَدَخَلَ الْحُجْرَةَ فَقَامَ رَجُلٌ بَسِيطُ الْيَدَيْنِ فَقَالَ أَقُصِرَتِ الصَّلاَةُ يَا رَسُولَ اللَّهِ ‏.‏ فَخَرَجَ مُغْضَبًا فَصَلَّى الرَّكْعَةَ الَّتِي كَانَ تَرَكَ ثُمَّ سَلَّمَ ثُمَّ سَجَدَ سَجْدَتَىِ السَّهْوِ ثُمَّ سَلَّمَ ‏.‏
Reference : Sahih Muslim 574 b
In-book reference : Book 5, Hadith 132
USC-MSA web (English) reference : Book 4, Hadith 1188
  (deprecated numbering scheme)