Joshua 20:2 Midrash

דַּבֵּ֛ר אֶל־בְּנֵ֥י יִשְׂרָאֵ֖ל לֵאמֹ֑ר תְּנ֤וּ לָכֶם֙ אֶת־עָרֵ֣י הַמִּקְלָ֔ט אֲשֶׁר־דִּבַּ֥רְתִּי אֲלֵיכֶ֖ם בְּיַד־מֹשֶֽׁה׃

’Speak to the children of Israel, saying: Assign you the cities of refuge, whereof I spoke unto you by the hand of Moses;