This circuit
simulate this circuit – Schematic created using CircuitLab
can be regarded as an RC series circuit with a lossy capacitor. The time expression for \$V_C(t)\$ with \$R_2 \to \infty \$ is available here and it is \$V_C(t) = V_0 (1 - e^{-t/\tau})\$.
I would like to obtain the same expression, but in this situation.
\$ V_0 \$ is the DC voltage generator; the switch is closed for \$t \geq 0\$ and \$V_C (t = 0) = 0\$ (capacitor initially discharged).
I can write
$$\frac{V_0 - V_C (t)}{R_1} = I(t)$$
$$\frac{V_0}{R_1} - \frac{1}{R_1 C} \frac{dQ(t)}{dt} = I(t)$$
which is the current across \$R_1\$ and so the total corrent entering \$ C // R_2 \$. \$V_C (t)\$ is variable during the capacitor charge. The fact is that here \$I(t)\$ is not simply \$dQ(t) / dt\$, because not all the charge exiting from \$R_1\$ goes through the capacitor: part of it flows across \$R_2\$ and this amount of "leaked" charge changes (raises) with time. So, how can this be taken into account?
Are there any hints to obtain a differential equation for the charge or the current of the capacitor?