Women have stages of arousal and that will be a good discussion for us to know. Undertanding that can help go this is good or not good. Of course woman should be on board. This is by no means saying that an aroused woman is an okay to have sex if they are drugged or anything.
But if you go to early pain is likely to be present. Plus relaxation should be part of the foreplay. Deep breathing and taking time. So yes foreplay is important.
Foreplay can be hot and sexy. The more relaxed and the more aroused the better. The more likely a successful romp and another in the future.
