Sayyiduna Mu'awiyah bin Hudayj (may Allah be pleased with him) narrates that one day the Messenger of Allah (peace and blessings be upon him) led the prayer, and while one rak'ah still remained he (peace and blessings be upon him) gave the salam and left. A man caught up with him (peace and blessings be upon him) and said: O Messenger of Allah! You have forgotten one rak'ah. He (peace and blessings be upon him) turned back, entered the mosque, ordered Sayyiduna Bilal (may Allah be pleased with him) to call the iqamah for the prayer, and then he (peace and blessings be upon him) led the people in that rak'ah. I told the people about this, and they said: Do you know that man? I said: No, but if I see him I will recognise him. Once that man passed by me, and I said: There is the man! They said: This is Sayyiduna Talhah bin Ubaydullah (may Allah be pleased with him).
Hadith Referenceالسنن الكبرى للبيهقي / كتاب الصلاة / 3913