Salat al-Qadha صلاة القضاء is obligatory on any one who missed his Prayer except the females who miss their Prayer due to menstruation.
Every missed Prayer (Morning , Zohr, Asr, Maghrib or Ishaa ) must be prayed as Qadha to compensate the missed. Even recommended Prayers of Nawafil and Salatul Layl which was missed are recommended to be prayed as Qadha.
It can be performed any time but it is very important to perform it as soon as you can.
It is performed in the same way of the Prayer which was missed.