When you are referring to 'register', do you actually mean 'renew' ? Well, if it has just lapse, you should not have problem renewing. Your registrar should send you an email a month or so before the domain name expires and there may be information about it in there. I supposed it can be as short as a week or a month where you can renew without penalty. After which, it goes into the redemption mode where you can still renew but there may be a huge penalty in there if you do, it can be anything from a few dollars to a few hundred dollars. In anything, don't delay and renew at the earliest timeframe, especially before it actually expires and don't wait till the last day before that can be troublesome for you and your site may go down on the domain name expires.
10x eddy2099, I'm acutely one week late, I use 1and1 and try to transfer my domains to Namecheap with not sucsses. so now I'm a week beyond.