Prayers whose times have passed, making them qadha, must be recited the same way they would be recited if they were ada and prayed on time. For instance, if one misses the fajr (morning) prayer and wants to make it up later during the day, he has to pray it aloud just like he would if he was praying at its time. Therefore, qadha and ada don’t differ from this point of view.[1]

Question: If one wants to pray an additional seventeen rakats of prayer just out of precaution to make sure he doesn’t owe any prayers, is he supposed to recite the first two rakats of the fajr, maghrib and isha prayers aloud?

Answer: There is no difference between ada and qadha prayers from this perspective, even if the qadha prayer is being performed only out of precaution.[2]