Missed prayers are called Qada.
So when you missed a prayer all you need to do is make it up ASAP between noon and evening prayer or between evening and night prayer. This action is called Qada.
Qada or Kazaa is the full prayer you have missed.
So how do you make it up?
Anytime between the noon and evening prayer, you do your full pray and voila! You just made your Qada :)