Wa alaikum salam wa rahmatullaahi, They can pray as soon as the time of dhuhur is due. This means if the adhan of thuhur is given everyday at 12:15, they can pray on a Friday at this time.

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Assalamu alaikum wa rahmatullahi wa barakatuhu, If you are sure to finish it before the takbeer of the Imam, hasten to finish it. But if you know that you will miss the first takbeer, break it and join the Congregation.

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