كتاب السهو
Read the English translation first, with the original Arabic directly underneath.
It was narrated that Abu Hurairah said:
"The Messenger of Allah (ﷺ) prayed Zuhr or 'Asr and said the taslim following two rak'ahs and left. Dhul-Shimalain bin 'Amr said to him: 'Has the prayer been shortened or did you forget?" The Prophet (ﷺ) said: 'What is Dhul-Yadain saying?' They said: 'He is speaking the truth, O Messenger of Allah (ﷺ).' So he led them in praying the two rak'ahs that he missed."
مَا يَقُولُ ذُو الْيَدَيْنِ