“The Messenger of Allah ﷺ said the Salam after three Rak’ah for ‘Asr, then he stood up and went into the apartment. Khirbaq, a man with big hands, stood up and called out: ‘O Messenger of Allah! Has the prayer been shortened?’ He came out angrily, dragging his lower garment, and asked about it, and was told (what had happened). So he performed the Rak’ah that he had omitted, then he said the Salam, then he prostrated twice and said the Salam again.” (Using translation from Ibn Mājah 1215)
«سَلَّمَ رَسُولُ اللهِ ﷺ فِي ثَلَاثِ رَكَعَاتٍ مِنَ الْعَصْرِ ثُمَّ قَامَ فَدَخَلَ الْحُجْرَةَ» فَقَامَ الْخِرْبَاقُ رَجُلٌ بَسِيطُ الْيَدَيْنِ فَقَالَ أَقَصَرْتَ الصَّلَاةَ يَا رَسُولَ اللهِ أَوْ نَسِيتَ؟ فَخَرَجَ مُغْضَبًا يَجُرُّ ثَوْبَهُ فَسَأَلَ فَأُخْبِرَ «فَصَلَّى الرَّكْعَةَ الَّتِي كَانَ تَرَكَ ثُمَّ سَلَّمَ ثُمَّ سَجَدَ سَجْدَتَيِ السَّهْوِ ثُمَّ سَلَّمَ»