If I miss the regular voluntary prayer (rawatib) for the midday prayer, and then I see a congregation praying the midday prayer after the time has passed, am I allowed to pray with them with the intention of the regular voluntary prayer?

Question:
Another questioner says: I know that the Messenger of Allah (peace and blessings be upon him) would make up a voluntary prayer if he missed it, such as the regular voluntary prayers (rawatib). So, if I miss the regular voluntary prayer for the midday prayer and then see a congregation praying the midday prayer after the time has passed, am I allowed to pray with them so that it counts as a voluntary prayer for me in place of the regular voluntary prayer?

Answer:
There is nothing wrong with that. Making up the regular voluntary prayer for the midday prayer after the obligatory prayer is fine. There is also nothing wrong with praying a voluntary prayer behind someone who is praying an obligatory prayer. Yes.