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Fajr (Morning) Between the very beginning of dawn and sunrise.
Dhuhr (Noon) Between the declining of the sun and Asr (when the shadow of something is twice its own length).
Asr (Late Afternoon) Immediately after the last time limit of Dhuhr until just before the sunset.
Maghrib (Evening) Soon after the sunset until the disappearance of the twilight.
Isha (Night) After the disappearance of the twilight until midnight.
Note: There is also a very much emphasized prayer (Witr) after Ishaa.
