The ruling on one who joins the congregation for the 'Asr prayer with the intention of Zuhr, having already prayed Zuhr while traveling
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Question:
I arrived in al-Madinah and joined the congregation while they were praying the 'Asr prayer, and I entered with them with the intention of the Zuhr prayer.
Answer:
How does he pray Zuhr, having prayed it while traveling? He prayed it while traveling, so that is fine, as long as it was within its time. If he intended 'Asr, he must repeat the 'Asr prayer because he arrived in the town while they were praying 'Asr. If he joined them, he completes four rak'ahs, two. Yes. That is the end. Allah the Exalted knows best, and may Allah send blessings and peace upon our Prophet Muhammad and upon his family and his Companions.
I arrived in al-Madinah and joined the congregation while they were praying the 'Asr prayer, and I entered with them with the intention of the Zuhr prayer.
Answer:
How does he pray Zuhr, having prayed it while traveling? He prayed it while traveling, so that is fine, as long as it was within its time. If he intended 'Asr, he must repeat the 'Asr prayer because he arrived in the town while they were praying 'Asr. If he joined them, he completes four rak'ahs, two. Yes. That is the end. Allah the Exalted knows best, and may Allah send blessings and peace upon our Prophet Muhammad and upon his family and his Companions.
Source
قناة «العلامة الدكتور صالح الفوزان»، 14 من 52/شرح قاعدة جليلة في التوسل والوسيلة / الذين يدعون الكواكب/ صالح الفوزان / العقيدة — youtube.com (1:15:33)
The Arabic text is a machine transcription of the audio recording.