Joshua 20:1-4

Then the LORD said to Joshua: “Tell the Israelites to choose the special cities of safety, as I had Moses command you to do. If a person kills someone accidentally and without meaning to kill him, that person may go to a city of safety to hide. There the killer will be safe from the relative who has the duty of punishing a murderer. “When the killer runs to one of those cities, he must stop at the entrance gate, stand there, and tell the leaders of the people what happened. Then that person will be allowed to enter the city and will be given a place to live among them.