Praying with tayammum is better than praying with a previous wudoo’ done using water when one is desperate to relieve oneself
Question

                I entered the mosque one day and there was water in my house to do wudoo’ for prayer, but I still had my wudoo’. However the need to relieve myself was pressing and I could not find any water, and I was afraid that I would miss the prayer in congregation, so I joined the prayer.
Praise be to Allah.
    Firstly: 

    It is makrooh for the worshipper to start praying when he is 
    suppressing the need to defecate or urinate, because the Prophet (blessings 
    and peace of Allah be upon him) forbade doing that, because of what it 
    results in of failing to attain complete focus and contemplation in prayer. 

    See the answer to question no.
    8603 

    Secondly: 

    If the worshipper is suppressing the need to urinate or 
    defecate and he cannot find any water with which to do wudoo’, it is better 
    for him to relieve himself then do tayammum and pray. 

    His praying with tayammum whilst having proper presence of 
    mind and focus is better than praying after doing wudoo’ with water but 
    without proper focus, because the heart and essence of the prayer is proper 
    focus (khushoo‘), so it is essential to maintain it. 

    Shaykh al-Islam Ibn Taymiyah (may Allah have mercy on him) 
    was asked: Which is better: praying with wudoo’ whilst suppressing the need 
    to relieve oneself or to relieve oneself then do tayammum due to lack of 
    water? 

    He replied: 

    Praying with tayammum without suppressing the need to relieve 
    oneself is better than praying with wudoo’ whilst suppressing the need to 
    relieve oneself, because praying when suppressing the need to relieve 
    oneself is makrooh and is not allowed, and there are two opinions concerning 
    its validity. But praying with tayammum is valid and there is nothing 
    makrooh in it, according to scholarly consensus.

    End quote from Majmoo‘ al-Fataawa, 21/473 

    Shaykh Ibn ‘Uthaymeen (may Allah have mercy on him) said: If 
    someone were to ask: A man has wudoo’ but is suppressing the need to urinate 
    or pass wind, but if he does so he does not have any water with which to do 
    wudoo’. Should we tell him to relieve himself and do tayammum for prayer, or 
    should we tell him to pray whilst suppressing the need to urinate or pass 
    wind? 

    The answer was: 

    You should tell him to relieve himself and do tayammum; he 
    should not pray whilst suppressing the need to urinate or pass wind. That is 
    because praying with tayammum is not makrooh, according to scholarly 
    consensus, but praying whilst suppressing the need to urinate or pass wind 
    is not allowed and is makrooh. And some of the scholars regarded it as 
    haraam and said: Prayer whilst suppressing the need to urinate or pass wind 
    is not valid, because the Messenger (blessings and peace of Allah be upon 
    him) said: “There is no prayer in the presence of food or when suppressing 
    the need to urinate or defecate.” End quote from ash-Sharh al-Mumti‘, 
    3/236 

    So the prayer that you offered is valid, in sha Allah, and 
    you do not have to repeat it. 

    And Allah knows best.