What is the ruling on habitually performing the regular Sunnah prayers daily behind the belated congregational prayer?

"Performing the Sunnah Rawatib prayer after someone who is praying a Fard (obligatory) prayer is permissible according to the majority of scholars. This is the madhhab of the Shafi'is and Dawud al-Zahiri, one narration from Malik, and the madhhab of Al-Thawri and Abu Hanifa. However, it should not be believed that this is a Sunnah, or that the Rawatib prayer is not performed except in this manner."