If a person joins you wanting to pray with you, and you make the intention of leading him in prayer, this is OK.
The author of the book Nihaayat al-Zayn fi Irshaad al-Mubtadieen (p. 127) said: If the imaam says salaam then one latecomer decides to follow another latecomer in prayer, this is OK.
And Allah knows best.

Congregational Prayer

Sheikh Muhammed Salih Al-Munajjid

Latecomer following another latecomer in prayer

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Latecomer following another latecomer in prayer

Question: 2368