Deuteronomy 16:11-12

and you shall rejoice before the LORD your God, you and your son and your daughter and your male and female servants and the Levite who is within your [city] gates, and the stranger and the orphan and the widow who are among you, at the place where the LORD your God chooses to establish His Name (Presence). You shall remember that you were a slave in Egypt, and you shall be careful to obey these statutes.