Why does Isabella enter the heir's bed?

Margaret forces her to replace the disgraced half-sister as a substitute bride.

What is Isabella's true goal inside the palace?

She seeks the people responsible for arranging her mother's death.

The Substitute Bride Rises to Queen

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The Substitute Bride Rises to Queen — An Earl's legitimate daughter swaps places with her disgraced half-sister to enter the palace and hunt her mother's killers.

Because Isabella bears an uncanny resemblance to Margaret, the Earl's bastard daughter, Margaret compels her into the heir's bed after her own ruin ends royal ambitions. Isabella feigns reluctance while slipping behind palace walls, using the forced night as cover to navigate lethal court intrigue. Every bowed head conceals a motive and each invitation tests her resolve as she searches for those who arranged her mother's death.

Quick answers

Why does Isabella enter the heir's bed?: Margaret forces her to replace the disgraced half-sister as a substitute bride.
What is Isabella's true goal inside the palace?: She seeks the people responsible for arranging her mother's death.