Prevent Page Refresh After Submitting Contact Form

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Is there a way to prevent the page from refreshing after a customer clicks the submit button on a contact form? I've created a modal window for the contact form on certain product pages, but when the user clicks "Submit", the page refreshes, so the user can't see the success message unless they reopen the modal window.

I'm assuming I would need to prevent the default form submission behavior, but I can't find where to modify the javascript - using the Impulse theme by Archetype.

Any help is greatly appreciated!