Halakhah do Samuela II 23:21

To not rob: To not rob - meaning to say, to not take with strength and force and publicity that to which we do not have a right, as it is stated (Leviticus 19:13), "and you shall not rob." And the explanation came about it (Bava Kamma 79b), that the expression, "robbery (gezelah)" relates to one that grabs something from the hand of his fellow or takes it out of his domain against his will by way of force and in the open, like the matter that is stated (II Samuel 23:21), "and he robbed the spear from the hand of the Egyptian."

He prohibited us - that we not steal that to we which we do not have entitlement, by force and duress. And that is His saying, "and you shall not rob" (Leviticus 19:13). And so have the masters of the tradition explained (Bava Kamma 79b) - "you shall not rob," is like the content of, "and he robbed the spear from the hand of the Egyptian" (II Samuel 23:21). And it is a negative commandment that is rectified by a positive commandment; and that is His saying, "he shall return the stolen property" (Leviticus 5:23). But even if he nullified the positive commandment, he is not lashed, since it is a negative commandment that is given to repayment - such that if he burned the stolen property or threw it to the sea, he can give [back] what it was worth. However, if he denied it and swore falsely, he adds a fifth and sacrifices a guilt-offering, as is explained in its place (Sefer HaMitzvot, Positive Commandments 71); and likewise is it explained at the end of Makkot (Makkot 16a). And the regulations of this commandment have already been explained in the seventh [chapter] of [Bava] Kamma. (See Parashat Kedoshim; Mishneh Torah, Theft 10.)