Process customer payment with credit card on existing invoices

The feature that I am familiar with in Dynamics AX authorizes, captures, and posts the customer payment when you invoice. It is very streamlined. But I have been unable to find a way to authorize, capture and post customer payments for existing invoices.
The majority of our customers pay by credit card but do so after the invoice has been sent and the payment terms (net 30 or whatever) have been met. Therefore we have the open invoice in which we must pay with a credit card. Is there a simple, streamlined way of doing this?