Numbers 35:19

35:19 The avenger of blood himself must kill the murderer; when he meets him, he must kill him.

Numbers 35:27

35:27 and the avenger of blood finds him outside the borders of the town of refuge, and the avenger of blood kills the slayer, he will not be guilty of blood,

Deuteronomy 19:4-10

19:4 Now this is the law pertaining to one who flees there in order to live, if he has accidentally killed another without hating him at the time of the accident. 19:5 Suppose he goes with someone else to the forest to cut wood and when he raises the ax to cut the tree, the ax head flies loose from the handle and strikes his fellow worker so hard that he dies. The person responsible may then flee to one of these cities to save himself. 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. 19:7 Therefore, I am commanding you to set apart for yourselves three cities. 19:8 If the Lord your God enlarges your borders as he promised your ancestors and gives you all the land he pledged to them, 19:9 and then you are careful to observe all these commandments I am giving you today (namely, to love the Lord your God and to always walk in his ways), then you must add three more cities to these three. 19:10 You must not shed innocent blood in your land that the Lord your God is giving you as an inheritance, for that would make you guilty.

Joshua 20:3-6

20:3 Anyone who accidentally kills someone can escape there; these cities will be a place of asylum from the avenger of blood. 20:4 The one who committed manslaughter should escape to one of these cities, stand at the entrance of the city gate, and present his case to the leaders of that city. They should then bring him into the city, give him a place to stay, and let him live there. 20:5 When the avenger of blood comes after him, they must not hand over to him the one who committed manslaughter, for he accidentally killed his fellow man without premeditation. 20:6 He must remain in that city until his case is decided by the assembly and the high priest dies. Then the one who committed manslaughter may return home to the city from which he escaped.”