Numbers 35:12-22

12 The cities shall be for you a refuge from the avenger, so that the slayer may not die until there is a trial before the congregation.
13 The cities that you designate shall be six cities of refuge for you:
14 you shall designate three cities beyond the Jordan, and three cities in the land of Canaan, to be cities of refuge.
15 These six cities shall serve as refuge for the Israelites, for the resident or transient alien among them, so that anyone who kills a person without intent may flee there.
16 But anyone who strikes another with an iron object, and death ensues, is a murderer; the murderer shall be put to death.
17 Or anyone who strikes another with a stone in hand that could cause death, and death ensues, is a murderer; the murderer shall be put to death.
18 Or anyone who strikes another with a weapon of wood in hand that could cause death, and death ensues, is a murderer; the murderer shall be put to death.
19 The avenger of blood is the one who shall put the murderer to death; when they meet, the avenger of blood shall execute the sentence.
20 Likewise, if someone pushes another from hatred, or hurls something at another, lying in wait, and death ensues,
21 or in enmity strikes another with the hand, and death ensues, then the one who struck the blow shall be put to death; that person is a murderer; the avenger of blood shall put the murderer to death, when they meet.
22 But if someone pushes another suddenly without enmity, or hurls any object without lying in wait,
New Revised Standard Version Bible, copyright 1989, Division of Christian Education of the National Council of the Churches of Christ in the United States of America. Used by permission. All rights reserved.