The Ruling on Forgetfulness and Mistakes in Prayer

Question
What is the ruling on forgetfulness and mistakes in prayer? Is there a sin associated with it?
Answer
I say, and with God's success: If there is forgetfulness or error in a duty, then a prostration of forgetfulness is required; if it is in a pillar, the prayer is invalidated; and if it is in other matters, we ask God for forgiveness, and God knows best.
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