Malik reported,

He asked Ibn Shihab and Nafi, the freed slave of Ibn Umar, about a man who joins the imam in prayer after the imam has already completed one rakat. Should he recite the testimony of faith along with the imam at the second and fourth rakats, even though for him those fall at an odd number?They both replied that he should recite it along with him.

و حدثني

عن مالك

أنه سأل ابن شهاب ونافعا مولى ابن عمر عن رجل دخل مع الإمام في الصلاة وقد سبقه الإمام بركعة أيتشهد معه في الركعتين والأربع وإن كان ذلك له وترا فقالا ليتشهد معه.