'Intercourse' in the Bible

So Sarai said to Abram, “See here, the Lord has prevented me from bearing children. I am asking you to go in to [the bed of] my maid [so that she may bear you a child]; perhaps I will obtain children by her.” And Abram listened to Sarai and did as she said.

He went in to [the bed of] Hagar, and she conceived; and when she realized that she had conceived, she looked with contempt on her mistress [regarding Sarai as insignificant because of her infertility].

But in the evening he took Leah his daughter and brought her to Jacob, and Jacob went in to [consummate the marriage with] her.

She said, “Here, take my maid Bilhah and go in to her; and [when the baby comes] she shall deliver it [while sitting] on my knees, so that by her I may also have children [to count as my own].”

So she gave him Bilhah her maid as a [secondary] wife, and Jacob went in to her.

He turned to her by the road, and said, “Please come, let me lie with you”; for he did not know that she was his daughter-in-law. And she said, “What will you give me, that you may lie with me?”