If I am late for the tarawih, what do I do?

As tarawih needs to be prayed after the Esha prayer, it is compulsory to pray Esha before one starts performing tawarih. One can pray Esha by themselves first before joining in with the tarawih, or it is possible to join the tawarih prayer with the intention of Esha, and complete a further two units when the imam makes salaam, and join in with the next set of tawarih.