3 Anyone who kills another person accidentally and unintentionally can run to one of these cities; they will be places of refuge from relatives seeking revenge for the person who was killed.

Matthew Henry's Commentary on Joshua 20:3

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.