Joshua 20:1-4

The LORD also spoke to Joshua, saying, “Speak to the children of Israel, saying: ‘Appoint for yourselves cities of refuge, of which I spoke to you through Moses, that the slayer who kills a person accidentally or unintentionally may flee there; and they shall be your refuge from the avenger of blood. And when he flees to one of those cities, and stands at the entrance of the gate of the city, and declares his case in the hearing of the elders of that city, they shall take him into the city as one of them, and give him a place, that he may dwell among them.