How does one make up missed prayers?

Whoever misses a prayer due to sleep or forgetfulness must make it up, by scholarly consensus, based on the Prophet's (peace be upon him) saying: "If one of you forgets a prayer or sleeps through it, he should pray it when he remembers it." As for one who intentionally leaves a prayer until its time expires, the majority of scholars hold that making it up is obligatory. However, Ibn Taymiyyah and Ibn Hazm were of the view that one who intentionally abandons prayer is not prescribed to make it up; rather, he must repent and perform many supererogatory prayers, because abandoning prayer is a complete forfeiture of it. And whoever must make up a prayer due to forgetfulness or sleep, or wishes to err on the side of caution, should make it up in the manner he used to perform it, and the making up of it must be done immediately.