וַיְבִיאֵ֣הוּ לְבֵית֔וֹ וַיָּ֖בָול לַחֲמוֹרִ֑ים וַֽיִּרְחֲצוּ֙ רַגְלֵיהֶ֔ם וַיֹּאכְל֖וּ וַיִּשְׁתּֽוּ׃
So he brought him into his house, and gave the asses fodder; and they washed their feet, and did eat and drink.
Read midrashic interpretation of Judges 19:21: and classical rabbinic exegesis.