Arriving Late for Mincha Prayer
Question
Answer
Shalom Rav
One should aim to reach the recitation of Kedusha with the congregation.
Therefore, if under the circumstances one can start immediately and finish before the recitation of Kedusha, they may start immediately.
If they will not finish before the congregation reaches Kedusha, they should wait and begin praying with the chazan during the repetition of the prayer, and this is also considered praying with the congregation.
Source
Shulchan Aruch, Orach Chaim, Laws of Prayer, Siman 109, סעיף א
One who enters the synagogue and finds the congregation praying, if he can start and finish before the chazan reaches Kedusha or Kaddish, he should pray. Similarly, Amen after "The Holy God" and "Who hears prayer" are considered like Kaddish and Kedusha (Tosafot, Rosh, and Mordechai, chapter "One who died", and Terumat HaDeshen, Siman 11). If not, he should not pray.