It was narrated that Abu Hurairah said:
"The Messenger of Allah (ﷺ) said: 'Whoever catches up with a Rak'ah of the prayer has caught up with it." (RU)
English reference (RU): Vol. 1, Book 6, Hadith 557 (RU)
Arabic reference (RU): Book 6, Hadith 561 (RU)