Prostration of a latecomer

Q 1: A man came late and joined the congregation for Salah (prayer) after they had completed a Rak`ah (unit of Prayer) or more and the Imam (the one who leads congregational Prayer) did Sujud-ul-Sahw (Prostration of Forgetfulness). Is it permissible for the man to prostrate with the Imam or should he make up for what he missed first, then do Sujud-ul-Sahw?

A: If a man comes late to the Salah and the Imam is doing Sujud-ul-Sahw before saying Taslim (salutation of peace ending the Prayer), he should prostrate with the Imam; but if the Imam says the Taslim and then prostrates, the man should make up the Rak`ahs he missed and then do Sujud-ul-Sahw before or after saying the Taslim.May Allah grant us success. May peace and blessings be upon our Prophet Muhammad, his family, and Companions.