Sujud-ul-Tilawah during Salah

Q: If I join the Fajr (Dawn) Prayer on Friday in congregation and find that the Imam (the one who leads congregational Prayer) has already started the Salah (Prayer) reciting Surah Al-Sajdah and is performing Sujud-ul-Tilawah (Prostration of Recitation). Should I follow him in the Sujud (prostration) or wait until he stands up from it? If I miss this Sujud, should I perform it later? Is it considered as the first Rak`ah (unit of Prayer) or is the Rak`ah that follows it the first and the second Rak`ah that follows that the second one? Please give me a detailed answer. May Allah grant you success and record our rewards, and help you in answering those who ask questions.

A: If someone goes to the Masjid (mosque) and finds the Imam performing Sujud-ul-Tilawah, they should say Takbirat-ul-Ihram (saying: "Allahu Akbar [Allah is the Greatest]" upon starting Prayer) while standing and then prostrate to follow the Imam in Sujud-ul-Tilawah. It is not a problem if they miss Sujud-ul-Tilawah.May Allah grant us success. May peace and blessings be upon our Prophet Muhammad, his family, and Companions.