In a narration from Umar ibn Yazid, from Abu Abdullah (as):
"If he has only gone a short distance, let him return and perform the two Rak'ahs (units of prayer). Alternatively, he may ask someone else to perform them on his behalf."
Al-Kāfi #1938“I once asked abu ‘Abd Allah (a.s.), about a man who forgets to perform Tawaf al-Nisa’ until he goes in unto his wife. He (the Imam) said,...