"And now, behold, if Adam had not transgressed he would not have fallen, but he would have remained in the garden of Eden. And all things which were created must have remained in the same state in which they were after they were created; and they must have remained forever, and had no end." (Book of Mormon, 2 Nephi, 2 Nephi 2:22)
Lehi is NOT saying that God intended Adam to sin in order to obey. Lehi is just explaining Adam's intent. Intent is considered in many instances in the Law of Moses. Adam's intent was to keep his covenants, stay with and care for Eve, and multiply and replenish the Earth. Adam intention was to keep his covenants.