Picture of dry chickpeas from Wikipedia
Forgot to soak your beans yesterday? I do that all the time. If you have a few hours, you can still have beans for dinner tonight.
According to the back of my bag o' beans (and it's always worked for me), pick over and rinse your beans as usual. Toss them in a big pot of water and bring to a boil. Boil for 2 minutes, then remove from heat and cover. Let sit one hour (or more if you have the time), then drain and rinse.
Cook as usual. The quick soak might up your cooking time a bit, but it works well.
Check out a "quick cook" method for beans from Momzoo.