What is the ruling on marriage after your wife saw you with the maid, knowing that you did not commit adultery with her?

What you did by directly interacting with the servant is forbidden and an مقدمة (introduction) to zina (unlawful sexual intercourse). It has been figuratively called "zina of the eye and the tongue" in the noble Hadith. You are obligated to repent, seek forgiveness, feel remorse, and resolve never to repeat it. Be careful not to be alone with her or to look at her. We advise you to do without female servants. If there is an absolute necessity for one, then adhere to what has been mentioned. Your marriage is not affected by what happened between you and the servant, as Islamic law has not made the deviation of the husband a reason to sever the marital relationship.