Zayd bin Wahb relates: Sayyiduna Abdullah bin Mas'ud (may Allah be pleased with him) and I entered the mosque while the imam was in the bowing position. We went into bowing, then walked forward until we joined the row. When the imam finished, I stood up to make up the prayer I had missed, and Sayyiduna Abdullah bin Mas'ud (may Allah be pleased with him) said: You have caught that rak'ah.
Al-Tabarani recorded it in al-Mu'jam al-Kabir, and its narrators are thiqat (trustworthy).
Hadith Referenceمجمع الزوائد ومنبع الفوائد / كتاب الصلاة / 2404