Aside from the global handlers, you might want to simply clone the biz form web part (/CMSWebParts/BizForms/bizform.aspx.cs) and have 2 form web parts. One for Kentico only forms and another for Kentico and Pardot forms which will handle your Pardot events in it.
The concept is the same as what Jan suggests with global events although it only fires when that web part is used vs. every form insertion.
The 2 events you can use in the Bizform web part are:
- OnBeforeSave()
- OnAfterSave()