If I missed Fajr, can I get up and pray later, and still do the sunnah and fard?

So this happened to the companions at the time of the Prophet, the hadith in Sahih Bukhari and Sahih Muslim. And what they did when they woke up afterwards is that they prayed the two sunnah of Fajr and then the two fard. So if you do wake up late then make sure you pray the sunnah and the fard.