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 ‏
Sahih Muslim 571 b

This hadith has been narrated by Zaid b. Aslam with the same chain of transmitters and he said:

He should perform two prostrations before the salutation, as it was mentioned by Sulaiman b. Bilal.
حَدَّثَنِي أَحْمَدُ بْنُ عَبْدِ الرَّحْمَنِ بْنِ وَهْبٍ، حَدَّثَنِي عَمِّي عَبْدُ اللَّهِ، حَدَّثَنِي دَاوُدُ بْنُ قَيْسٍ، عَنْ زَيْدِ بْنِ أَسْلَمَ، بِهَذَا الإِسْنَادِ وَفِي مَعْنَاهُ قَالَ ‏ "‏ يَسْجُدُ سَجْدَتَيْنِ قَبْلَ السَّلاَمِ ‏"‏ ‏.‏ كَمَا قَالَ سُلَيْمَانُ بْنُ بِلاَلٍ ‏.‏
Reference : Sahih Muslim 571b
In-book reference : Book 5, Hadith 111
USC-MSA web (English) reference : Book 4, Hadith 1167
  (deprecated numbering scheme)