וְכִֽי־יַכֶּה֩ אִ֨ישׁ אֶת־עַבְדּ֜וֹ א֤וֹ אֶת־אֲמָתוֹ֙ בַּשֵּׁ֔בֶט וּמֵ֖ת תַּ֣חַת יָד֑וֹ נָקֹ֖ם יִנָּקֵֽם׃
And if a man smite his bondman, or his bondwoman, with a rod, and he die under his hand, he shall surely be punished.
Read Jewish philosophy on Exodus 21:20: Rambam's Guide for the Perplexed, Saadia Gaon, and classical Jewish philosophical sources, free online.