||: No. Kabbalas Shabbos is not in Shulchan Aruch. It is an opportunity to say Tehillim and/or Shir Hashirim between Mincha & Arbit/Maariv. It is not a part of prayers. If someone comes late Friday night, he should do Arbit/Maariv and not try to catch up on the Tehillim.
What about Mizmar shir and Hashem malach? Isn't that the true kabbalas shabbos? I believe rishonim atually mention those. is that correct?