Joshua 20:1-4

1Then Adonai spoke to Joshua saying,

2“Speak to Bnei-Yisrael saying, ‘Designate your cities of refuge, about which I spoke to you through Moses.

3So the manslayer who kills any person by mistake and without premeditation may flee there. They will be your refuge from the avenger of blood.

4When one flees to one of those cities, he must stand at the entrance of the gate of the city and state his case in the hearing of the elders of that city. Then they are to take him into their city and give him a place to live among them.