Hazrat Sha'bi and Ibrahim, in the explanation of this verse { أَقِمِ الصَّلاَۃ لِذِکْرِی }, state that it means if you forget to perform the prayer, then whenever you remember, perform it at that time.

Hazrat Sakhr bin Juwairiyah says that I asked Hazrat Nafi’ about a person who forgets to perform the Asr prayer and the sun has turned yellow, so what should he do now? He replied that he should perform it; there is nothing like prayer.

Hazrat Hakam says that recite it whenever you remember.

Ibrahim, regarding the person who sleeps without offering the Isha prayer until the sun rises, says that he should offer it at that time.

Hazrat Zuhri narrates that the Holy Prophet (peace and blessings be upon him) slept at the time of Fajr prayer, until the sun had risen. He said to his companions, "Leave the place where you were overcome by heedlessness." Then he recited this verse: { أَقِمِ الصَّلاَۃ لِذِکْرِی }

A man from the tribe of Abu Bakrah narrates that Abu Bakrah slept in one of our rooms. We thought that he must have performed the Asr prayer. When he woke up at sunset, he waited for the sun to set and then performed the prayer.

Hazrat Abdul Malik bin Ka'b narrates that I slept at the time of Fajr prayer until the sun had risen. At that time, we were in one of our fields to pick fruit. I went to a date palm tree to perform ablution, and my father saw me and asked, "What happened to you?" I said, "I want to perform ablution and offer prayer." He called me to him and made me sit with him. When the sun had risen high and become white, before I started the prayer, he struck me and said, "Did you forget?" Now offer the prayer.

Hazrat Hammad says that if a person forgets to perform the Asr prayer until the sun turns yellow, then he should offer it after the sun has set. Hazrat Qatadah also used to say the same.

4829 - And Qatadah said the like of that.

Hazrat Abu Qatadah narrates that one night he was traveling with the Messenger of Allah (peace and blessings be upon him). During the night, we said, "O Messenger of Allah! If we camp here for a while, it would be good." The Messenger of Allah (peace and blessings be upon him) said, "I fear that you will sleep through the time of prayer. Who will wake us for the prayer?" Hazrat Bilal said, "I will wake you." So the people camped and went to sleep. Hazrat Bilal leaned against his mount and sleep overcame him. When the Noble Prophet (peace and blessings be upon him) woke up, the sun had already risen. The Messenger of Allah (peace and blessings be upon him) said, "O Bilal! What happened to what you said?" He replied, "The sleep that overcame me today has never come to me before." The Messenger of Allah (peace and blessings be upon him) said, "Allah seizes your souls whenever He wills and releases them whenever He wills." Then the Messenger of Allah (peace and blessings be upon him) instructed the companions to disperse for their needs, and they performed ablution. When the sun had risen high, he led them in the Fajr prayer.