Midrash as a Source of Halacha

What is Aggadah? Can Midrash or Aggadah be used as a source for Halacha? If it can be a source for halacha, when can or can't we learn from Midrash/Aggadah?

According to the Midrash Esther was married to Mordechai. The poskim deal with the halachic question of how she was able to marry Achashverosh.

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Delivered at the OU Israel Center, January 2nd, 2019, 25 Tevet 5779