Sayyiduna Samurah (may Allah be pleased with him) narrates: The Prophet (peace and blessings be upon him) used to command us that when one of us slept through the prayer or forgot it until its time in which it is prayed had passed, the person should offer it along with the obligatory prayer that comes after it.
Al-Bazzar and al-Tabarani in al-Kabir recorded it; its chain contains a narrator, Yusuf bin Khalid al-Samti, and he is a kadhdhab (liar).
Hadith Referenceمجمع الزوائد ومنبع الفوائد / كتاب الصلاة / 1800