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 574 a

'Imran b. Husain reported:

The Messenger of Allah (ﷺ) said the afternoon prayer and gave the salutation. at the end of three rak'ahs and then went into his house. A man called al-Khirbaq, who bad long aims, got up and went to him, and addressed him as Messenger of Allah and mentioned to him what he had done. He came out angrily trailing his mantle, and when he came to the people he said: Is this man telling the truth? They said: Yes. He then said one rak'ah and then gave salutation and then performed two prostrations and then gave salutation.
وَحَدَّثَنَا أَبُو بَكْرِ بْنُ أَبِي شَيْبَةَ، وَزُهَيْرُ بْنُ حَرْبٍ، جَمِيعًا عَنِ ابْنِ عُلَيَّةَ، - قَالَ زُهَيْرٌ حَدَّثَنَا إِسْمَاعِيلُ بْنُ إِبْرَاهِيمَ، - عَنْ خَالِدٍ، عَنْ أَبِي قِلاَبَةَ، عَنْ أَبِي الْمُهَلَّبِ، عَنْ عِمْرَانَ بْنِ حُصَيْنٍ، أَنَّ رَسُولَ اللَّهِ صلى الله عليه وسلم صَلَّى الْعَصْرَ فَسَلَّمَ فِي ثَلاَثِ رَكَعَاتٍ ثُمَّ دَخَلَ مَنْزِلَهُ فَقَامَ إِلَيْهِ رَجُلٌ يُقَالُ لَهُ الْخِرْبَاقُ وَكَانَ فِي يَدَيْهِ طُولٌ فَقَالَ يَا رَسُولَ اللَّهِ ‏.‏ فَذَكَرَ لَهُ صَنِيعَهُ ‏.‏ وَخَرَجَ غَضْبَانَ يَجُرُّ رِدَاءَهُ حَتَّى انْتَهَى إِلَى النَّاسِ فَقَالَ ‏ "‏ أَصَدَقَ هَذَا ‏"‏ ‏.‏ قَالُوا نَعَمْ ‏.‏ فَصَلَّى رَكْعَةً ثُمَّ سَلَّمَ ثُمَّ سَجَدَ سَجْدَتَيْنِ ثُمَّ سَلَّمَ ‏.‏
Reference : Sahih Muslim 574a
In-book reference : Book 5, Hadith 131
USC-MSA web (English) reference : Book 4, Hadith 1187
  (deprecated numbering scheme)