(37) CHAPTER. One who forgets a Salat (prayer) should offer it when he remembers it, and should not repeat anything except that particular prayer.
Narrated Anas: The Prophet said, If anyone forgets a prayer he should pray that prayer when he remembers it. There is no expiation except to pray the same. Then he recited: Establish prayer for My (i.e. Allah's) remembrance. (20.14).
Authentic