Joshua 20:3-5

3that the manslayer who 1kills any person unintentionally, without premeditation, may flee there, and they shall become your refuge from the avenger of blood.

4He shall flee to one of these cities, and shall stand at the entrance of the 2gate of the city and state his case in the hearing of the elders of that city; and they shall 3take him into the city to them and give him a place, so that he may dwell among them.

5Now 4if the avenger of blood pursues him, then they shall not deliver the manslayer into his hand, because he struck his neighbor without premeditation and did not hate him beforehand.