Is it permissible for a married woman to have intercourse with her male servant who is her husband's ملك يمين (rightful possession), with the husband's knowledge and consent, and even sometimes in his presence?

A woman is not permitted to seek pleasure from her slave, nor is her husband allowed to grant her permission to do so. This is consideredzina (fornication/adultery) which would necessitate the prescribed punishment (hadd) were it not for the presence of a شبهة (doubt/semblance of legitimacy). Therefore, the woman must repent and distance herself from that man, and maintain chastity with her husband. If the husband is unable to engage in intercourse, the woman may seek a khul' (divorce initiated by the wife) or refer the matter to the Sharia courts.