Deuteronomy 15:15-18
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15And you are to remember that you were a slave in the land of Egypt, and the Lord your God redeemed you; therefore I am commanding this of you today. 16But it shall come about, if he says to you, ‘I will not leave you,’ because he loves you and your household, since he is doing well with you, 17then you shall take an awl and pierce it through his ear into the door, and he shall be your servant permanently. You shall also do the same to your female slave.