Joshua 20:1-4

The LORD spoke to Joshua, saying, “Speak to the Israelites, saying, ‘Designate the cities of refuge (asylum), of which I spoke to you through Moses, so that the person (manslayer) who kills any person unintentionally, without premeditation, may flee there, and they shall be your refuge from the blood avenger. [Num 35:10ff] He shall flee to one of these cities, and shall stand at the entrance of the gate of the city and explain his case to the elders of that city; and they shall take him into [the protection of] the city and give him a place [to stay], so that he may live among them.