It was narrated that Mu'awiyah bin Hudaij that the Meseenger of Allah (ﷺ) prayed one day and said the Taslim when there was still a Rak'ah left of the prayer. A man caught up with him and said:
'You forgot a Rak'ah of the prayer!' So he came back into the Masjid and told Bilal to call the Iqamah for prayer, then he led the people in praying one Rak'ah. I told the people about that and they said to me: 'Do you know who that man was?' I said: 'No, not unless I see him.'. Then he paased by me and I said: 'This is he.' They said: 'This is Talha bin 'Ubaidullah.'"
English reference: Vol. 1, Book 7, Hadith 665
Arabic reference: Book 7, Hadith 671