Genesis 30:1-4

30:1 When Rachel saw that she could not give Jacob children, she became jealous of her sister. She said to Jacob, “Give me children or I’ll die!” 30:2 Jacob became furious with Rachel and exclaimed, “Am I in the place of God, who has kept you from having children?” 30:3 She replied, “Here is my servant Bilhah! Have sexual relations with her so that she can bear children for me and I can have a family through her.”

30:4 So Rachel gave him her servant Bilhah as a wife, and Jacob had marital relations with her.