gistfile1.txt

State A (current):

branch foo: A -- B -- C -- D
                           \
branch bar:                 -- E -- F -- G --H

I want commit E from bar brought back into foo, without cherry-picking and creating a new commit. Essentially I want to go to this:

State B:

branch foo: A -- B -- C -- D -- E
                                  \
branch bar:                        F -- G --H

I think you could just do (from branch foo):

git reset --hard E

(where E is the sha reference to E)

This would point that branch at commit E. The history stays intact. This only won't work if you have further commits (not shown) on branch foo.