It is narrated from Sayyiduna Thawban (may Allah be pleased with him) that the Messenger of Allah (peace and blessings be upon him) said: "Indeed, Allah has pardoned my Ummah three things: error, forgetfulness, and what they are compelled to do."
Hadith Referenceالمعجم الكبير للطبراني / باب الثاء / 1417