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It was narrated that ‘Abdullah said: “The Messenger of Allah (ﷺ) said: ‘If anyone of you is uncertain about his prayer, let him try to do what is correct then let him prostrate twice.’” Tanafisi said: "This is the basic rule, and no one is able to reject it."
Source: sunnah.com
Other translations
Arabic
حَدَّثَنَا عَلِيُّ بْنُ مُحَمَّدٍ، حَدَّثَنَا وَكِيعٌ، عَنْ مِسْعَرٍ، عَنْ مَنْصُورٍ، عَنْ إِبْرَاهِيمَ، عَنْ عَلْقَمَةَ، عَنْ عَبْدِ اللَّهِ، قَالَ قَالَ رَسُولُ اللَّهِ ـ صلى الله عليه وسلم ـ " إِذَا شَكَّ أَحَدُكُمْ فِي الصَّلاَةِ فَلْيَتَحَرَّ الصَّوَابَ ثُمَّ يَسْجُدْ سَجْدَتَيْنِ " . قَالَ الطَّنَافِسِيُّ هَذَا الأَصْلُ وَلاَ يَقْدِرُ أَحَدٌ يَرُدُّهُ .
sunnah.com