A person missed the 'Asr prayer; is it permissible for another person to pray with him, or is it a time of prohibition?

Question:
The questioner, Zayd, says: Honorable Shaykh, a man missed the 'Asr prayer, and another man wanted to give him charity and pray with him, but he refused and said, "This is a time of prohibition, do not pray with me." We ask for clarification on this action: is it permissible?

Answer:
The Messenger (peace and blessings be upon him) did not stipulate this condition. He said, "Whoever gives charity to this person and prays with him," and this includes everyone who missed a prayer. The Messenger (peace and blessings be upon him) did not specify one prayer over another. It is recommended for the one who has performed his prayer and is present with someone who missed it and has no one else with him to pray with him. This becomes a voluntary prayer for him, and it is also a reviving of the Sunnah. This applies at any time. Yes.