What is the ruling regarding performing a prayer out of its prescribed time when it was missed due to sleeping?

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When the companions awoke after the sun had risen due to sleeping through the dawn prayer, the Prophet (peace be upon him) ordered them to mount their rides and travel until the sun fully rose. After dismounting, ablution, and performing the two rak'ahs of the Sunnah of Fajr, he commanded the call to prayer (*iqamah*) and led them in performing the missed obligatory prayer. When asked why they did not pray this prayer at its proper time, the Prophet (peace be upon him) responded, "No. Allah does not forbid you concerning Riba (usury) and accept it from you." This incident is used as evidence by Ahmad.