Joshua 20:1-4

Then the LORD said to Joshua: “Tell the Israelites to designate the cities of refuge, as I instructed you through Moses, so that anyone who kills a person accidentally and unintentionally may flee there and find protection from the avenger of blood. When they flee to one of these cities, they are to stand in the entrance of the city gate and state their case before the elders of that city. Then the elders are to admit the fugitive into their city and provide a place to live among them.