The users are mapped before I add database into HA group on primary server but on secondary servers they are not aligned/mapped yet and I can identify them on secondary servers by running queries

After adding database the remapping does not work  on secondary servers as the databases changes to read only and HA mode

How can I achieve the task on secondary servers when the database is into HA and the users are not mapped?

Windows or Sql logins?

Seems like you could create the logins and prepare a script for mapping them when HA/DR is needed.

they are sql logins and already into system

I just need to remap them

So, is the question how to remap sql logins?  If so, the answer is sp_change_users_login

If the question is how to do this when the db is in read_only mode, the answer might be just script it and use that script when the db is live.

Even when the database is live there is database mirroring error

as the database is part of HA group