Caution: Translations of Quran and Ḥadīth may lead to possible misapplications and misinterpretations. This site is intended for students of sacred knowledge that are proficient in comprehending classical Arabic and have a strong foundation in Islamic sciences. Also note that religious injunctions rely on several aspects beyond what one may glean through reading individual aḥādīth.
abudawud:1012Muḥammad b. Yaḥyá b. Fāris > Muḥammad b. Kathīr > al-Awzāʿī > al-Zuhrī > Saʿīd b. al-Musayyab And ʾAbī Salamah Waʿubayd Allāh b. ʿAbdullāh > Abū Hurayrah Bihadhih al-Qiṣṣah

he did not make two prostrations (at the end of prayer) due to forgetfulness until Allah gave him satisfaction about it.  

أبو داود:١٠١٢حَدَّثَنَا مُحَمَّدُ بْنُ يَحْيَى بْنِ فَارِسٍ حَدَّثَنَا مُحَمَّدُ بْنُ كَثِيرٍ عَنِ الأَوْزَاعِيِّ عَنِ الزُّهْرِيِّ عَنْ سَعِيدِ بْنِ الْمُسَيَّبِ وَأَبِي سَلَمَةَ وَعُبَيْدِ اللَّهِ بْنِ عَبْدِ اللَّهِ عَنْ أَبِي هُرَيْرَةَ بِهَذِهِ الْقِصَّةِ قَالَ

وَلَمْ يَسْجُدْ سَجْدَتَىِ السَّهْوِ حَتَّى يَقَّنَهُ اللَّهُ ذَلِكَ