Commentaire sur Le Lévitique 5:6

והביא את אשמו, “he shall bring as his guilt offering, etc;” this offering does not have to be accompanied by a libation, but it does require that the person bringing it places his weight through his hands upon it (when confessing his guilt). (Sifra)

That is that He commanded us that anyone who erred in a sin and is an individual offer a sin-offering sacrifice. And that is His, may He be exalted, saying, "And if a person sins in error." And that is a fixed sin-offering - meaning that is always an animal sin-offering. And we have already explained that sins for which we are liable for a sin-offering when inadvertent, we are liable for excision when volitional - and that is on condition that they are negative commandments and that they involve an action, as it is explained at the beginning of Keritot (Keritot 2). And the regulations of this commandment are explained in Tractate Menachot and Keritot, and in Tractate Shabbat, Shevuot and Zevachim. (See Parashat Vayikra; Mishneh Torah, Offerings for Unintentional Transgressions 1.)