Narrated Mu'awiyah ibn Khudayj:

One day the Messenger of Allah ﷺ prayed and gave the salutation while a rak'ah of the prayer remained to be offered. A man went to him and said: You forgot to offer one rak'ah of prayer. Then he returned and entered the mosque and ordered Bilal (to utter the Iqamah). He uttered the Iqamah for prayer. He then led the people in one rak'ah of prayer. I stated it to the people. They asked me: Do you know who he was? I said: No, but I can recognise him if I see him. Then the man passed by me, I said: It is he. The people said: This is Talhah ibn Ubaydullah.

حَدَّثَنَا قُتَيْبَةُ بْنُ سَعِيدٍ، حَدَّثَنَا اللَّيْثُ، - يَعْنِي ابْنَ سَعْدٍ - عَنْ يَزِيدَ بْنِ أَبِي حَبِيبٍ، أَنَّ سُوَيْدَ بْنَ قَيْسٍ، أَخْبَرَهُ عَنْ مُعَاوِيَةَ بْنِ حُدَيْجٍ، أَنَّ رَسُولَ اللَّهِ ﷺ صَلَّى يَوْمًا فَسَلَّمَ وَقَدْ بَقِيَتْ مِنَ الصَّلاَةِ رَكْعَةٌ فَأَدْرَكَهُ رَجُلٌ فَقَالَ نَسِيتَ مِنَ الصَّلاَةِ رَكْعَةً فَرَجَعَ فَدَخَلَ الْمَسْجِدَ وَأَمَرَ بِلاَلاً فَأَقَامَ الصَّلاَةَ فَصَلَّى لِلنَّاسِ رَكْعَةً فَأَخْبَرْتُ بِذَلِكَ النَّاسَ . فَقَالُوا لِي أَتَعْرِفُ الرَّجُلَ قُلْتُ لاَ إِلاَّ أَنْ أَرَاهُ فَمَرَّ بِي فَقُلْتُ هَذَا هُوَ . فَقَالُوا هَذَا طَلْحَةُ بْنُ عُبَيْدِ اللَّهِ .