Sayyiduna Abdullah bin Mas'ud (may Allah be pleased with him) says that the Messenger of Allah (peace and blessings be upon him) said: "Perhaps you will meet people who will pray the prayers late. If you meet such people, pray in your homes on time, at the time you know. Then pray with them and make it voluntary."
Hadith Referenceالسنن الكبرى للبيهقي / كتاب الصلاة / 5337