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This is an intriguing question. Did Abraham commit a sin when he slept with Hagar at his wife's prompting?

Did Abraham sin? What a question. Did he sin when at his wife's prompting? He decided to sleep with Hagar's handmaid in order to bring up children. First of all let us consider the circumstances. God had promised Abraham that he will be the father of many nations and of a great nation, I should say. Abraham questioned the possibility of that happening. Why, because Abraham had no children. He told God, this Eliezer is the heir to my household. Abraham had doubts as to whether he would have that child or not. That is why   Abraham decided that he would yield to that request and bring up a child that could be the heir. But  God does not need any assistance from us in achieving his plans. God knows very well what he wants to do and how he's going to do it and even though it may seem difficult, impossible or improbable to us, God knows what he's about to do. God never said anything after Abraham went into Hagar but Abraham was 86 years old when that took place. The next chapter after the incident, we would note that it was 13 years afterward. Abraham was 99. God appeared to Abraham and said I am your shield and exceeding great reward walk before me and be perfect. There was complete  for 13 years. Not that God never spoke to him, but the Bible does not record any communication between God and Abraham after the incident with Hagar. You should stick a pin here. It doesn't say that Abraham sinned, but it is worth noting that God was completely silent after that incident. Let us consider the scene now. I call it a sin I called it a sin because in the beginning God made Adam God said it was not good that man should be alone. God said I will make him a help meet, and he brought Eve to him. He didn't bring Eve and Hyacinth. He didn't bring Eve and Antoine, He brought Eve. God could well have made two women or three women. He made and brought one woman to Abraham. And said this is your wife. and Adam said this is now bone of my bones, flesh of my flesh, she shall be called woman. And the word of God continues to say, for this cause shall a man leave father and mother and cleave unto his wife, and they shall become one flesh. Now that phrase is mentioned three times in the Bible,  God said it,  Jesus Christ quoted it, and Paul did. Each time they quoted it, there were different preceding reasons why a man would leave father and mother, and become one flesh.  Note there are three behaviours:

1. He would leave father and mother

2. He would cleave to his wife

3. He would become one flesh.

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What was the Cause

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And adam said, this is now bone of my bones and flesh of my flesh: she shall be called Woman, because she was taken out of Man. Therefore shall a man leave  .......

Lets analyse this carefully: 

So God had just presented Eve to Adam. Adam recognizes her as part of himself — deeply and essentially. The woman is not an outsider but a corresponding part of the man.

"For this cause" means: Because of that deep oneness and origin, the natural consequence is that:

• A man leaves his family of origin,

• And forms a new, primary attachment,

• In a bond that makes him “one flesh” with his wife.

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So what’s the cause?

It’s the reality of marital unity—that the man and the woman are created for one another in a unique, complementary relationship. In essence, the cause is:

God’s design for intimacy, unity, and shared identity between man and woman.

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Jesus' Take​

  When Jesus said it in Mathew 19:4-5 he gave an additional spin to it: 4 He answered them, “Haven’t you read that the one who made them at the beginning made them male and female and said, ‘That is why a man will leave his father and mother and be united with his wife, and the two will become one flesh? So they are no longer two, but one flesh. Therefore, what God has joined together, man must never separate.

Now God never used the term Male and Female. But Christ is saying that God made them male and female. So that man's Maleness and Woman's Femaleness was a deliberate and intentional work of God to implement and achieve something that cannot be achieved otherwise and the intent was that the same three purposes will be achieved:

• A man leaves his family of origin,

• And forms a new, primary attachment,

• In a bond that makes him “one flesh” with his wife.

Jesus adds, "So they are no longer two, but one flesh. What therefore God has joined together, let not man separate.”

So the “cause” is elevated by Christ to mean God’s intention for lifelong, inseparable union — marriage is not just a social contract, but a divine act of uniting two people of Male and Female gender to become one. Ideally, the joining of a man with a woman should be an inseparable act. Any violation of this union becomes a contravention of God's design.

It should be clear that God’s intention was to join one man and one woman together and the two would become one flesh. There is no accommodation for a third person in the relation ship.

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Apostolic Authority - Paul

The third person to say it is Paul:In Eph 5:30-31 Paul declares:

30 For we are members of his body, of his flesh, and of his bones. 31 For this cause shall a man leave his father and mother, and shall be joined unto his wife, and they two shall be one flesh. 32 This is a great mystery: but I speak concerning Christ and the church. 33 Nevertheless let every one of you in particular so love his wife even as himself; and the wife see that she reverence her husband.

Now Paul brings out the Antitype. Adam and Eve's union in the Garden of Eden was a Type of Christ's union with the church.  And just as there is one body, Eph. 3:6 that the Gentiles should be fellowheirs  and of the same body - One body. The marriage or union in the Garden of Eden foreshadowed Christ and the Church - From Adam to Jesus Christ. they did not know this foreshadowing else they would not have been begamists and polygamists. Paul Says: 

"Whereby, when ye read, ye may understand my knowledge in the mystery of Christ, Which in other ages was not made known unto the sons of men, as it is now revealed unto his holy apostles and prophets by the Spirit;