﴿ قَدْ فَرَضَ ٱللَّهُ لَكُمْ تَحِلَّةَ أَيْمَٰنِكُمْ ۚ وَٱللَّهُ مَوْلَىٰكُمْ ۖ وَهُوَ ٱلْعَلِيمُ ٱلْحَكِيمُ ﴾

“God has already enjoined upon you [O believers] the breaking and expiation of [such of] your oaths [as may run counter to what is right and just]: for, God is your Lord Supreme, and He alone is all-knowing, truly wise.”

Verily God has prescribed He has made lawful for you when necessary the absolution of your oaths to absolve them by expiation as mentioned in the sūrat al-Mā’ida Q. 589 and the forbidding of sexual relations with a handmaiden counts as an oath so did the Prophet s expiate? Muqātil b. Sulaymān said ‘He set free a slave in expiation for his prohibition of Māriya’; whereas al-Hasan al-Basrī said ‘He never expiated because the Prophet s has been forgiven all errors’. And God is your Protector your Helper and He is the Knower the Wise.