Sefer HaChinuch ספר החינוך

Not to make her serve after he has intercourse with her: That we should not make a [captured] “woman of beautiful form” serve, after intercourse with her. And about this it is stated (Deuteronomy 21:14), “you shall not abuse (titaamer) her, since you afflicted her.” The explanation of “abuse” is that it is an expression of service. And so did they say in Sifrei, “‘You shall not abuse her’ — you shall not take service from her.” And the matter is that we should not set her up as a concubine or as maidservant in bondage. And the matter of the verse is not that we should not have her serve any service that women do for their husbands. [Rather] Scripture prohibits making her into a maidservant, [just] like it is also forbidden to sell her as a maidservant, and the intention is one. And so too with the stealing of a soul from his brothers (kidnapping), about which it is written (Deuteronomy 24:7), “and he abused (hitaamer) him” — they, may their memory be blessed, explained (Sanhedrin 85b), that [it means that] he brought him into his domain and made him serve.

Its neighbor that is adjacent (Sefer HaChinukh 533) speaks about the root of this commandment. And the rest of the matter is written in its [corresponding] positive commandment (Sefer HaChinukh 532).