201 Then God spoke to Joshua: 2 "Tell the People of Israel: Designate the asylum-cities, as I instructed you through Moses, 3 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. 4 "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. 5 "If the avenger of blood chases after him, they must not give him up - he didn't intend to kill the person; there was no history of ill-feeling. 6 He may stay in that city until he has stood trial before the congregation and until the death of the current high priest. Then he may go back to his own home in his hometown from which he fled."
Matthew Henry's Commentary on Joshua 20:1-6
Commentary on Joshua 20:1-6
(Read Joshua 20:1-6)
When the Israelites were settled in their promised inheritance, they were reminded to set apart the cities of refuge, whose use and typical meaning have been explained, Hebrews 6:18.