Should a worshipper repeat their prayer if they discover a mistake in it after the time for the next prayer has begun?

It is not possible to definitively state the obligation of repeating a prayer due to an error in it without knowing the type of mistake made by the worshipper. Some errors invalidate the prayer and always necessitate its repetition (such as not reciting Al-Fatiha or performing only one prostration), some do not necessitate repetition (such as reciting the Tashahhud during bowing), and some necessitate repetition within the prescribed time but not outside of it, according to some jurists (such as praying with impurity due to forgetfulness or ignorance). If it becomes clear that the error invalidates the prayer, then it must be made up (qada'), and it should be made up before performing the next prayer, in observance of the proper sequence. If the worshipper remembers the error while performing the current prayer, they should continue with it and not interrupt it, then make up the invalidated prayer. It is recommended for them to repeat the prayer they just performed (the current one) again.