לָנ֥וּס שָׁ֙מָּה֙ רוֹצֵ֔חַ מַכֵּה־נֶ֥פֶשׁ בִּשְׁגָגָ֖ה בִּבְלִי־דָ֑עַת וְהָי֤וּ לָכֶם֙ לְמִקְלָ֔ט מִגֹּאֵ֖ל הַדָּֽם׃
that the manslayer that killeth any person through error and unawares may flee thither; and they shall be unto you for a refuge from the avenger of blood.
Read midrashic interpretation of Joshua 20:3: and classical rabbinic exegesis.