Repentance of the Fornicator
Question

                Assalaamu'alaikum.
I have a friend. He has married. He told me, someday he did 'Zinnah' with other 
woman. Now, he want to Taubat An-Nasuha. The Questions are : How can he do a Taubat An-Nasuha ? Would be Allah 'azza wa jalla receive 
his Taubat ?
He told me, (I'm sorry if sounds rough), his penis did not entered to the 
woman's vagina, but their condition have been nude. His penis position 
between her up leg. Could we say that is a zinna that must be punished with 
'rajm' ?

As information, In our country, the zinna can't punish with 'rajm'. I need your 
answer soon as possible.
Jazzakumullaahu khoiran katsiran.
Assalaamu'alaikum warahmatullaahi wabarakaatuh.
Praise be to Allah.All 
  Praises are Due to Allah
The 
  act that your friend committed is a great sin and crime. He must repent to Allah. 
  The Prophet  (peace and blessings of Allah be upon 
  him) said: "the eyes fornicate, the hands fornicate, the legs commit 
  fornication, and the private parts commit fornication". (It is reported 
  by Ahmad and it is in sahih Al Jahni 4150.) 
Tell 
  your friend that he has to increase in good deeds so that Allah will wipe out 
  his evil deeds, as Abdullah ibn Masud reported. He said that a man came to the 
  Prophet (peace and blessings of Allah be upon him) and said, Oh Messenger 
  of Allah  (peace and blessings of Allah be upon 
  him), I met a woman in the garden so I pulled her close, fondled her, kissed 
  her, and did everything with except have intercourse. The Prophet  
  (peace and blessings of Allah be upon him) was then silent and so the verse 
  came down, "verily, the good deeds erase the bad deeds, that is admonition 
  to those who remember." So the Prophet (peace and blessings of Allah 
  be upon him) called him and recited it to him. So Umar (may Allah be pleased 
  with him) said, Oh Messenger of Allah  (peace 
  and blessings of Allah be upon him) is this for him specifically or for everyone. 
  He said  (peace and blessings of Allah be upon him) 
  , no, for everyone.' (It was narrated by Ahmad.) 
There 
  are more details on repenting from fornication. Refer to question #624. 
  As for your question regarding whether he is considered to have committed fornication, 
  which is punishable by stoning, it is obligatory that the married fornicator 
  be stoned and the unmarried fornicator receive lashes. This is only if the sexual 
  organs of the fornicator penetrate the vagina of the woman. Whatever is similar 
  deserves a different punishment, depending on the level of the haram committed. 
  It is not obligatory that he admit to a judge what he did. It is sufficient 
  that repentance take place between him and Allah, and Allah is the Acceptor 
  of repentance and the Most Merciful. We ask Allah to forgive us and the rest 
  of the Muslims. 
Allah 
  knows best.