It was narrated from Salim that the Messenger of Allah (ﷺ) said:
"Whoever catches up with a Rak'ah of one of the prayers has caught up with it, except that he has to make up the portion that he missed." (ES)
English reference (ES): Vol. 1, Book 6, Hadith 559 (ES)
Arabic reference (ES): Book 6, Hadith 563 (ES)