It was narrated from Abu Hurairah that the Messenger of Allah (ﷺ) said:
"Whoever catches up with a Rak'ah of the prayer, then he has caught up with the prayer." (RU)
English reference (RU): Vol. 1, Book 6, Hadith 554 (RU)
Arabic reference (RU): Book 6, Hadith 558 (RU)