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Yahya related to me from Malik from Afif ibn Amr as-Sahmi that Ata ibn Yasar said, "I asked Abdullah ibn Amr ibn al-As and Kab al Ahbar about someone who was uncertain in his prayer, and did not know whether he had prayed three or four rakas. Both of them said, 'He should pray another raka and then do two sajdas from the sitting position.' "
وَحَدَّثَنِي عَنْ مَالِكٍ، عَنْ عَفِيفِ بْنِ عَمْرٍو السَّهْمِيِّ، عَنْ عَطَاءِ بْنِ يَسَارٍ، أَنَّهُ قَالَ سَأَلْتُ عَبْدَ اللَّهِ بْنَ عَمْرِو بْنِ الْعَاصِ وَكَعْبَ الأَحْبَارِ عَنِ الَّذِي، يَشُكُّ فِي صَلاَتِهِ فَلاَ يَدْرِي كَمْ صَلَّى أَثَلاَثًا أَمْ أَرْبَعًا فَكِلاَهُمَا قَالَ لِيُصَلِّي رَكْعَةً أُخْرَى ثُمَّ لِيَسْجُدْ سَجْدَتَيْنِ وَهُوَ جَالِسٌ ‏.‏

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References

• Muwatta Imam Malik, Book of Prayer, Hadith 68