One who enters the mosque while the congregation is praying and has a previous obligatory prayer due
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Question:
Honorable Shaykh, may Allah grant you success. A man entered the mosque and found that the congregation had already started the prayer, and he had not prayed the previous obligatory prayer. What must he do?
Answer:
He can either pray the previous obligatory prayer, and when he finishes, he joins them with whatever remains of the current obligatory prayer. Or he can join them with the intention of the previous obligatory prayer. He joins them with the intention of, for example, the Dhuhr prayer while they are praying 'Asr. There is no harm in this, according to the correct view. He joins them with the intention of the missed prayer and prays it with them. When he finishes, he stands up to perform the current prayer, because the order is necessary. Yes.
Honorable Shaykh, may Allah grant you success. A man entered the mosque and found that the congregation had already started the prayer, and he had not prayed the previous obligatory prayer. What must he do?
Answer:
He can either pray the previous obligatory prayer, and when he finishes, he joins them with whatever remains of the current obligatory prayer. Or he can join them with the intention of the previous obligatory prayer. He joins them with the intention of, for example, the Dhuhr prayer while they are praying 'Asr. There is no harm in this, according to the correct view. He joins them with the intention of the missed prayer and prays it with them. When he finishes, he stands up to perform the current prayer, because the order is necessary. Yes.
Source
شرح كتاب المنتقى من أخبار المصطفى صلى الله عليه وسلم، بداية من باب الإشارة في الصلاة لرد السلام أو حاجة تعرض — islamhouse.com (1:06:16)
The Arabic text is a machine transcription of the audio recording.