So Pasiphae is in love with the bull. Madly in love. Infatuated even. So she decides she wants to take human/bovine relations to the next level, a score of centuries before James Herriot made TV audiences wince every Sunday as he drove all over Yorkshire fisting livestock as he went. His excuse was he was a vet. Her excuse was she was horny.
Fortunately the Queen just happened to know an inventor called Daedalus, whose name fortuitously means "the inventor". Nominative determinism isn't just a modern phenomenon it seems. Daedalus knocked up (unfortunate phrasing) a wooden cow-shaped contraption that would allow Pasiphae and the bull to.....interact.
At no point did Daedalus think this was a bad idea. And he must have done a good job because nine-ish months later Pasiphae gave birth to a half-human half-bull creature known as the Minotaur.
Of course father and son tried to escape, but all boats leaving Crete were heavily searched and the waters were unswimmable. Daedalus and Icarus were trapped by Poseidon's waves.