What are the legitimate stages that must be followed to complete sexual intercourse after marriage?

It is recommended for the husband, upon his wife's wedding, to recite the supplication: "O Allah, I ask You for her goodness and the goodness of what You have instilled in her, and I seek refuge in You from her evil and the evil of what You have instilled in her." It is also recommended to precede intercourse with foreplay such as playful interaction and kissing. If there is a medical or psychological impediment to intercourse, it is advisable to consult doctors and follow what scholars have mentioned regarding the treatment of one who is bound [from intercourse].