Joshua 20:1-4

The LORD said to Joshua, “Now tell the Israelites to designate the cities of refuge, as I instructed Moses. Anyone who kills another person accidentally and unintentionally can run to one of these cities; they will be places of refuge from relatives seeking revenge for the person who was killed. “Upon reaching one of these cities, the one who caused the death will appear before the elders at the city gate and present his case. They must allow him to enter the city and give him a place to live among them.