Joshua 20:2-6

2“Have the Israelites select the cities of refuge that I told you about through Moses.

3Anyone who accidentally kills someone can escape there; these cities will be a place of asylum from the avenger of blood.

4The one who committed manslaughter should escape to one of these cities, stand at the entrance of the city gate, and present his case to the leaders of that city. They should then bring him into the city, give him a place to stay, and let him live there.

5When the avenger of blood comes after him, they must not hand over to him the one who committed manslaughter, for he accidentally killed his fellow man without premeditation.

6He must remain in that city until his case is decided by the assembly and the high priest dies. Then the one who committed manslaughter may return home to the city from which he escaped.”