you could write a php-piece for that.
when the user hits the submit button, an after-form-piece writes a cookie with the last-insert-id of the form.
next time the user opens the form, the cookie will be checked by a before-form-piece, grabs the data from the last-insert-id stored in there, the data from the database and prefills the formdata again.
the most work would be to that things like select-, checkboxes and radios need special handling for preselection.