Salamah bin Nubayt (may Allah be pleased with him) narrates: I prayed at home and made a mistake through forgetfulness during the prayer. Then I came to al-Dahhak bin Muzahim (may Allah be pleased with him) and said to him: I prayed in my house and I forgot. He said: Perform the prostration of forgetfulness now.
Hadith Referenceالسنن الكبرى للبيهقي / كتاب الصلاة / 3881