Strictly speaking the output of Glycolysis is NADH + H+. Why is that? The oxidized form of the NAD cofactor, NAD+, can only accept a hydrogen (H) and an electron in order to be converted in its reduced form NADH. Since a compound loses 2 hydrogen atoms (each atom consisting of a proton and an electron) where does that extra proton (H+) go if it is not accepted by NAD+? It joins the environment, the solution in which the reaction occurs.
So a reaction in which a compound is oxidized by an enzyme that uses NAD as cofactor should be written as
Compound-H2 + NAD+ -> Compound + NADH + H+
and the reduction reaction should be
Compound + NADH + H+ -> Compound-H2 + NAD+
NAD+ is often presented as NAD, while NADH + H+ (or most commonly NADH) as NADH2.
For mass relations purposes in that equation the authors had to use NADH2 to show where the second hydrogen for the lactic acid comes from. Yet that equation is still not good, it has to be written as
2C3H4O3 + 2NADH2 --> 2C3H6O3 + 2NAD