Yes, it will be encrypted. The URL of the page from which the form is submitted does not matter, only the destination URL of the form.
It should be noted, however, that some browsers (at least IE 6) will warn the user when submitting a secure form from an insecure page. Why this requires a warning and what the user should do with it, I have no idea, but it can confuse people (if they bothered to read the warning).
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