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This question already has an answer here:

If I join the congregational prayers/Jamaat in the second Rakat and said my prayer along with the imam through second, third and forth Rakat, should I also recite the Darood-e-Ibrahim along with the imam?

Or should I stop with Atahiyat and stand up after the Salam has finished and say the remaining Rakats?

marked as duplicate by mtk, goldPseudo Jan 28 '15 at 23:02

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If you missed a Rakat, and joined the Jamaat late then you will only recite till Ata'hiyaat and stop. When the Imam says Salaam then get up and complete remaining prayer.

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