"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." (Using translation from Nasāʾī 1230)
صَلَّى رَسُولُ اللهِ ﷺ الظُّهْرَ أَوِ الْعَصْرَ فَسَلَّمَ فِي رَكْعَتَيْنِ فَقَالَ لَهُ ذُو الشِّمَالَيْنِ بْنُ عَبْدِ عَمْرٍو وَكَانَ حَلِيفًا لِبَنِي زُهْرَةَ أَخُفِّفَتِ الصَّلَاةُ أَمْ نَسِيتَ؟ فَقَالَ النَّبِيُّ ﷺ مَا يَقُولُ ذُو الْيَدَيْنِ؟ قَالُوا صَدَقَ يَا نَبِيَّ اللهِ فَأَتَمَّ بِهِمُ الرَّكْعَتَيْنِ اللَّتَيْنِ نَقَصَ