If the time for Dhuhr prayer has passed and the Asr prayer has been established, which of the two prayers should be performed first?

It is permissible for the worshiper to join the congregation with the intention of praying Dhuhr, and then pray Asr afterwards. It is also permissible for him to pray with them with the intention of Asr, and then only make up the Dhuhr prayer. The first option is more preferable, out of consideration for the proper sequence.