What should one do if they missed the first Rak'ah of Tarawih prayer: Should they suffice with a single Rak'ah or add a second Rak'ah?

Whoever catches one rak'ah of Tarawih prayer but misses another should pray what he catches with the Imam, then make up the missed rak'ah after the Imam's tasleem; according to the Prophet's (peace and blessings be upon him) saying: "So whatever you catch, pray, and whatever you miss, complete."