Usually that functionality is handled by the browser, however if you want to "force" the fields to always be pre-filled with the user's data, you can store the $_POST data in a session variable and use that to load the form.
Example:
// submission page
session_start();
if(isset($_POST)){
// save the posted data in the session
$_SESSION["POST"] = $_POST;
}
Then on the actual form page, you can check to see if session data exists. It won't if the form is being loaded the first time, but it will if the user submits the form and then presses the browser back button:
// form page
session_start();
if(isset($_SESSION["POST"])){
// previous POST data has been saved
// build the form with pre-defined values from $_SESSION
...
} else {
// no previous data
// build the form without pre-defined values
...
}
Note that you must call session_start() before outputting any HTML.