How does one make up for missed prayers?

Allah Almighty has set a specific time for acts of worship for a wise purpose, and it is not permissible to exceed it except for an excuse. One who misses a prayer due to an excuse (such as sleep or forgetfulness) incurs no sin, and is obligated to make it up immediately upon remembering or waking up. However, one who misses a prayer intentionally and out of laziness is sinful by the consensus of Muslims, and the correct opinion among scholars is that making it up is not valid for him. Rather, he must repent, feel remorse, and increase in righteous deeds and voluntary prayers. They based this on Allah Almighty's saying: "Indeed, prayer has been decreed upon the believers a timed ordinance," and on the fact that making up a prayer is a legal obligation that requires proof, and that analogy to the one who forgets is flawed due to the difference in circumstances.