They committed zina and got married before they repented; do they have to do a new marriage contract?

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Check below answers in case you are looking for other related questions:
It is not permissible to marry a zaani or zaaniyah unless they have repented
Woman's right to refuse marriage to someone

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Related Answers:
Marriage contract without witnesses must be repeated
Marriage without the woman’s wali (guardian), and innovated divorces (talaaq bid‘i)
She got married with a single witness and no guardian; is that marriage valid?
It is not permissible to marry a zaani or zaaniyah unless they have repented
Woman's right to refuse marriage to someone

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