The Cities of Refuge were towns in Ancient Israel to which people who killed accidentally (through negligence) could flee and find asylum. Otherwise, relatives of the victims had the right to claim blood vengeance.

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Cities of Refuge when Moshiach comes?

Why do we need Cities of Refuge when Moshiach comes if at that time there will be no more death?
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Accidental Murder

A person who kills another person by accident must run to a city of refuge. While he's running, relatives of the person he killed may kill him. Why are the relatives allowed to kill in such a case? ...