Independent Contractors ruled as employees

We have a situation where we contracted with about 10 people to do some work
for us three months ago and treated them as independent contractors and paid them as such. We intend to utilize these individuals again. It was determined by a state agency that we should had treated these individuals as employees. We will file amended unemployment tax forms and a amended 941. My question is can we legally go back and collect the employees share of the FICA taxes from these employees from future payments? Also if there was an indiviual who no longer works for us, how can we collect the FICA taxes from this individual. Any advice would be appreciated.
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