Sunan Ibn Majah Book 5, Hadith 1210

حَدَّثَنَا أَبُو كُرَيْبٍ، حَدَّثَنَا أَبُو خَالِدٍ الأَحْمَرُ، عَنِ ابْنِ عَجْلاَنَ، عَنْ زَيْدِ بْنِ أَسْلَمَ، عَنْ عَطَاءِ بْنِ يَسَارٍ، عَنْ أَبِي سَعِيدٍ الْخُدْرِيِّ، قَالَ قَالَ رَسُولُ اللَّهِ ـ صلى الله عليه وسلم ـ ‏ "‏ إِذَا شَكَّ أَحَدُكُمْ فِي صَلاَتِهِ فَلْيُلْغِ الشَّكَّ وَلْيَبْنِ عَلَى الْيَقِينِ فَإِذَا اسْتَيْقَنَ التَّمَامَ سَجَدَ سَجْدَتَيْنِ فَإِنْ كَانَتْ صَلاَتُهُ تَامَّةً كَانَتِ الرَّكْعَةُ نَافِلَةً وَإِنْ كَانَتْ نَاقِصَةً كَانَتِ الرَّكْعَةُ لِتَمَامِ صَلاَتِهِ وَكَانَتِ السَّجْدَتَانِ رَغْمَ أَنْفِ الشَّيْطَانِ ‏"‏ ‏.‏

It was narrated that Abu Sa’eed Al-Khudri said:“The Messenger of Allah (ﷺ) said: ‘If anyone of you is uncertain about his prayer, let him put aside uncertainty and act upon that which is certain. When he has made sure his prayer is complete, then let him prostrate twice. Then if his prayer was complete, that (extra) Rak’ah will be counted as voluntary, and if his prayer was lacking, that Rak’ah will complete his prayer, and the two prostrations will rub the Satan’s nose in the dust.’”