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." (TR)
English reference (TR): Vol. 1, Book 6, Hadith 559 (TR)
Arabic reference (TR): Book 6, Hadith 563 (TR)