Is it permissible to pray after engaging in acts that lead to fornication without reaching climax?

A Muslim must pray on time; for abandoning it is a greater sin than what has befallen him. If ejaculation or semen emission occurs, ghusl (definition) (ritual bath) is obligatory for prayer. If madhy (pre-seminal fluid) is discharged, istinja (definition)' (washing private parts) and wudu' (ablution) are obligatory. If a man touches a woman with desire, it is preferable to perform wudu' to avoid dispute. Whoever has sinned must offer sincere repentance and increase in good deeds that expiate sins.