Is it permissible to join the Imam while he is in prostration if one arrives late?

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It is recommended to follow the Imam even if one has not fully completed the preceding action for him. If one arrives while the Imam is in prostration, one should prostrate. Evidence is provided by the statement of the Prophet, peace be upon him: 'If you come to the prayer while we are in prostration, then prostrate, and do not count it as anything. Whoever catches the bowing has caught the rak'ah' (Reported by Abu Dawud). Furthermore, the Prophet, peace be upon him, stated: 'If one of you comes while the Imam is in a certain state, let him do as the Imam does' (Reported by Al-Tirmidhi). Scholarly consensus holds that if a man comes while the Imam is prostrating, he should prostrate, but that rak'ah does not count for him.