This excerpt is taken from Sheikh Zubair Ali Zai's book Rules and Issues of Qurbani.
عن عبد الله بن عمرو بن العاص أنه قال وقف رسول الله فى حجة الوداع بمنى للناس فجاءوا يسألونه فجاءه رجل فقال يا رسول الله لم أشعر فحلقت قبل أن أذبح فقال اذبح ولا حرج فجاء رجل آخر فقال يا رسول الله لم أشعر فنحرت قبل أن أرمي فقال له ارم ولا حرج قال فما سئل رسول الله عن شيء قدم ولا أخر إلا قال افعل ولا حرج
It is narrated from Sayyiduna Abdullah bin Amr bin Al-As, may Allah be pleased with them, that on the occasion of the Farewell Pilgrimage, the Messenger of Allah, peace and blessings be upon him, stood among the people in Mina, and people came to ask him questions. One man came and said: O Messenger of Allah! I did not know, I shaved my head before slaughtering the sacrifice. So the Prophet, peace and blessings be upon him, said: "Slaughter the sacrifice; there is no harm." Then another man came and said: O Messenger of Allah! I did not know, I slaughtered the sacrifice before stoning the Jamrat. So the Prophet, peace and blessings be upon him, said: "Throw the stones; there is no harm." Abdullah bin Amr bin Al-As, may Allah be pleased with them, said: On that day, whatever was asked from the Messenger of Allah, peace and blessings be upon him, regarding something that was done earlier or later than prescribed, he gave the same answer: "Do it; there is no harm."
Research:
Reference: Ibn Shihab explicitly stated the hearing in Bukhari (1738)
Authentication:
Agreed upon
Reference: Al-Muwatta (Narration Yaqeen 421 1970 20 23281) (Al-Tamhid 94/7 and he said: This is an authentic hadith with a strong chain: 911 and it was narrated by Bukhari (1736,83) and Muslim (1306) from the hadith of Malik.
Jurisprudence:
➊ If due to ignorance there is any advance or delay in stoning or sacrifice, there is no harm and no dam (sacrificing a goat) is obligatory.
➋ If after gaining knowledge any obligatory act is left undone, then dam will have to be given.
❀ Sayyiduna Ibn Abbas (may Allah be pleased with him) said:
من نسي من نسكه شيئا أو تركه فليهرق دما
"Whoever forgets or abandons any obligatory act of Hajj or Umrah, dam is upon him, meaning he has to slaughter a goat and distribute it among the poor in the Haram."
Reference: (Al-Sunan al-Kubra by Al-Bayhaqi: 5/30 with authentic chain, Al-Muwatta Imam Malik: 419 Hadith 968 with authentic chain)
➌ The summary of a hadith is that if a pilgrim is unable to perform Tawaf before sunset on the day of sacrifice (10th Dhu al-Hijjah), then all the restrictions of Ihram will return upon him, meaning he will have to enter Ihram again until Tawaf al-Ziyarah.
Reference: See Sunan Abi Dawood (1999) with Hasan and Sahih chain by Ibn Khuzaymah (2958)
➍ For detailed issues of Hajj and Umrah, see my (translator and researcher) book "Haji ke Shab o Roz"
Reference: (Muwatta Riwayat Ibn al-Qasim pp. 148-149)