Joshua 20:2-6

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.

5Now if the blood avenger pursues him, then they will not hand the manslayer over to him, since he killed his neighbor without premeditation and did not hate him beforehand.

6So he will stay in that city until he can stand trial before the congregation, or until the death of the kohen gadol in those days. Then the manslayer may return to his own city and to his own house, to the city from which he had fled.’”