Mahalo (thanks in Hawaiian) for your question. Questions like this one are not vital for our salvation and relationship with the Lord. However, God knows He made us curious, so at the discretion of the Holy Spirit, God will reveal to us some of the non-central things.
The short answer is yes. After God made Adam from the dust of the earth and then made Eve out of Adam’s rib, He chose to have His creation procreate by the joining of male and female. In the Biblical Archaeology Society Library Magazine, November/December edition. There is an article entitled “How Babies Were Made in Jesus’ Time, by Andrew Lincoin. Professor Lincoin explains that all three parties are involved in the production of a human. The three parties are God, man, and woman. If Adam and Eve were to fulfill God’s command to fill the earth, then Cain and Able would have needed to marry their sisters.
1 Corinthians 2:10 says these are the things God has revealed to us by his Spirit. The Spirit searches all things, even the deep things of God.
Remember, if you don’t understand, ask!