Joshua 20:1-4

Then GOD spoke to Joshua: “Tell the People of Israel: Designate the asylum-cities, as I instructed you through Moses, so that anyone who kills a person accidentally—that is, unintentionally—may flee there as a safe place of asylum from the avenger of blood. “A person shall escape for refuge to one of these cities, stand at the entrance to the city gate, and lay out his case before the city’s leaders. The leaders must then take him into the city among them and give him a place to live with them.