When is NADH + H⁺ formed in glycolysis?

The fructose 1, 6-bisphosphate is split into dihydroxyacetone phosphate and 3-phosphoglyceraldehyde (PGAL). We find that there is one step where NADH + H⁺ is formed from NAD+ ; this is when 3-phosphoglyceraldehyde (PGAL) is converted to 1, 3-bisphosphoglycerate (BPGA). Two redox-equivalents are removed (in the form of two hydrogen atoms) from PGAL and transferred to a molecule of NAD+ . PGAL is oxidized and with inorganic phosphate to get converted into BPGA. The conversion of BPGA to 3-phosphoglyceric acid (PGA), is also an energy yielding process; this energy is trapped by the formation of ATP. Another ATP is synthesized during the conversion of PEP to pyruvic acid.