From Sahih Muslim (Hadith 1284):
Abdullah (b. Mas'ud) reported:The Messenger of Allah (ﷺ) led us five (rak'ahs in prayer). We said: Messenger of Allah, has the prayer been extended? He said: What is the matter? They said: You have said five (rak'ahs). He (the Holy Prophet) said: Verily I am a human being like you. I remember as you remember and I forget just as you forget. He then performed two prostrations as (compensation of) forgetfulness
Reference: Muslim 1284