Should one who doesn`t perform prayer out of laziness make it up later, and how should he/she do so?
All perfect praise be to Allah,The Lord of The Worlds He/she is obliged to make up missed prayers by offering with each obligatory prayer another one, and if he/she offers two, then it is better. And Allah Knows Best.
Is touching a non-Mahram woman invalidates person's ablution?
Touching non-Mahram woman is prohibited, and according to the Shafiee's, it invalidates the ablution. And Allah Knows Best.
I prayed all the obligatory prayers in congregation, but after finishing the `Isha prayer, I remembered that I had forgotten to pray Dhuhr. What should I do, and is my prayer invalid?
Your prayers are valid, but you must make up the Dhuhr prayer as soon as you remember it, based on the saying of the Prophet (peace be upon him): "Whoever forgets a prayer must pray it as soon as they remember it; there is no expiation for it except this." [Muslim]. And Allah knows best
Is it permissible for a woman who is observing `Iddah (waiting period) due to the death of her husband to travel for performing Umrah (Minor Hajj)?
A woman observing `Iddah of a revocable (Rajee`) divorce isn`t allowed to travel for Umrah except with the consent of her husband.