You are absolutely right that we only want to see the plan once. Either we follow the planning in detail or we follow the execution in detail. We do not need to read it twice.
Unless, of course, it all goes horribly wrong from the start so the what happens in the attempted execution is completely different from what was planned. But since in your case it goes off with minor complications, that is not the case for you.
So how do you decide whether to show the planning or the execution. Simple: where is the drama? Creating a plan and executing it are, by themselves, merely technical. Story lies in drama, and drama lies in conflict. Conflict exists either external to the character -- the conspirators argue about how to plan the rescue -- or internally -- the hero wrestles with the danger or the proprietary of pulling off the rescue. So the question becomes, where lies the drama? Where lies the conflict? That is the part you write.
Men harmoniously develop plan to bust friend out of jail and succeed with only minor complications isn't a story. There is no drama in it. If merely physical complications arise, which are easily solved, there is still not much of a story. For a real story, you need moral or psychological complications to arise. Then the question is, where in the physical process of the planning and execution of the jail break do the moral and psychological issues come to a head? Write that bit. They rest is just routine.