Is repentance valid for the intention to commit a sin and postpone its action, and what is meant by "mufakhadha"?

Committing indecency is a great sin, but if the perpetrator repents with a sincere repentance that fulfills the conditions (cessation, determination not to return, and regret), then his repentance is accepted — God willing — and it is hoped that he will become as one who has not sinned; based on the saying of the Prophet, peace and blessings be upon him: "The one who repents from sin is like one who has no sin." The door of repentance is open as long as the soul has not reached the throat. Therefore, sincerity in repentance, frequent performance of good deeds, and following up bad deeds with good ones are required. "Al-mufakhadhah" (thighing) is enjoying a woman by her thigh.