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.

Principles of Fiqh

Jurisprudence and Islamic Rulings

Acts of Worship

Prayer

Congregational Prayer

Sheikh Muhammed Salih Al-Munajjid

Latecomer following another latecomer in prayer

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