1. If a person joined the Imam in the first rakaat, then join the Jamaat as explained earlier and complete the salaat with the Imam.
2. If a person joined the Imam in the second rakaat, then join as above but continue until Imam begins the second salaam - then stand up and complete the missed rakaat with tashahhud.
3. If a person joined the Imam in the last (third) rakaat, then do the same as 2 above but instead of completing one missed rakaat - he will have to complete two rakaats. Read tashahhud in both these rakaats.
NB: It is very IMPORTANT to note that both the repeated rakaats in 3 above must contain tashahhud. If a person forgot to sit in one of them - sajdah-e-sahw will be necessary before the final salaam. If one completely forgot about sajdah-e-sahw, then the salaat will have to be repeated. This is only the case if one joins a three rakaat salaat in the final rakaat.
4. If a person joins the salaat in the tashahhud of the final rakaat then he must stand up when the Imam begins the second salaam, and complete all three rakaats in the normal way including thana in the beginning.
5. If surah Naas was read in the second rakaat then the masbooq can read any surah he likes in the missed rakaats.
This cannot be undone and I am sure it will be greatly appreciated.
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