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Joshua 20:4

Albert Barnes
Notes on the Whole Bible

As soon as the manslayer presented himself at the city of refuge, the elders of the city were to hold an inquiry, and receive him provisionally into the city. Afterward, when the avenger of blood should have tracked his victim to the city, and appear to claim him, a more formal and thorough investigation Joshua 20:6 was to be made. Consult the marginal references.

Matthew Henry
Concise Bible Commentary
When the Israelites were settled in their promised inheritance, they were reminded to set apart the cities of refuge, whose use and typical meaning have been explained, Nu 35; De 19. God's spiritual Israel have, and shall have in Christ and heaven, not only rest to repose in, but refuge to secure themselves in. These cities were designed to typify the relief which the gospel provides for penitent sinners, and their protection from the curse of the law and the wrath of God, in our Lord Jesus, to whom believers flee for refuge, Heb 6:18.
Ellen G. White
SDA Bible Commentary, vol. 2 (EGW), 999

Their service was an imposing one, and testified to the truth of a living God. Their sacrifices pointed to a coming Saviour, who would take the kingdoms under the whole heaven, and possess them forever and ever. Evidence had been given of His power to do this, for as their invisible Leader had He not subdued their enemies and made a way for His church in the wilderness? His people would never know defeat if they would abide under the shadow of the Almighty; for One mightier than angels would fight by their side in every battle (Manuscript 134, 1899). 2BC 999.1

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Levitical Cities and Cities of Refuge (1)