Deuteronomy 25:2

25:2 Then, if the guilty person is sentenced to a beating, the judge shall force him to lie down and be beaten in his presence with the number of blows his wicked behavior deserves.

Deuteronomy 19:11

19:11 However, suppose a person hates someone else and stalks him, attacks him, kills him, and then flees to one of these cities.

Deuteronomy 19:6

19:6 Otherwise the blood avenger will chase after the killer in the heat of his anger, eventually overtake him, and kill him, though this is not a capital case since he did not hate him at the time of the accident.