When the Messenger of Allah ﷺ and his companions stood up and prayed, the Messenger of Allah ﷺ said to them, "Pray it tomorrow at its proper time."
حدثنا سليمان بن داود الطيالسي حدثنا شعبة عن ثابت سمع عبد الله بن رباح يحدث
أن رسول الله ﷺ وأصحابه لما قاموا إلى الصلاة فصلوا قال لهم رسول الله ﷺ صلوها الغد لوقتها
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Its chain of transmission is sahih. It is found in Ibn Khuzayma, 2/96, number 990. However, three reports have come down regarding making up a missed prayer. The first report is that he made it up within its own time, and nothing more was mentioned beyond that. The second report is that he made it up the moment he remembered it, along with its counterpart the next day. The third is that he did not make it up at all, but prayed it together with its counterpart the next day, meaning he made up the Fajr prayer together with the Fajr of the second day, and so on.What the majority of scholars have preferred is that one makes up the prayer the moment one remembers it, due to the well-known hadiths transmitted on this matter, the most important of which is the hadith, "Whoever sleeps through a prayer or forgets it should pray it when he remembers it, it has no time other than that." This is found in the Sihah.