The whole chapter is here, a verse to a line.
וַיְדַבֵּר יְהוָה אֶל־יְהוֹשֻׁעַ לֵאמֹֽר׃
And the LORD spoke unto Joshua, saying:
דַּבֵּר אֶל־בְּנֵי יִשְׂרָאֵל לֵאמֹר תְּנוּ לָכֶם אֶת־עָרֵי הַמִּקְלָט אֲשֶׁר־דִּבַּרְתִּי אֲלֵיכֶם 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;
לָנוּס שָׁמָּה רוֹצֵחַ מַכֵּה־נֶפֶשׁ בִּשְׁגָגָה בִּבְלִי־דָעַת וְהָיוּ לָכֶם לְמִקְלָט מִגֹּאֵל הַדָּֽם׃
that the manslayer that killeth any person through error and unawares may flee thither; and they shall be unto you for a refuge from the avenger of blood.
וְנָס אֶל־אַחַת מֵהֶעָרִים הָאֵלֶּה וְעָמַד פֶּתַח שַׁעַר הָעִיר וְדִבֶּר בְּאָזְנֵי זִקְנֵי־הָעִיר הַהִיא אֶת־דְּבָרָיו וְאָסְפוּ אֹתוֹ הָעִירָה אֲלֵיהֶם וְנָתְנוּ־לוֹ מָקוֹם וְיָשַׁב עִמָּֽם׃
And he shall flee unto one of those cities, and shall stand at the entrance of the gate of the city, and declare his cause in the ears of the elders of that city; and they shall take him into the city unto them, and give him a place, that he may dwell among them.
וְכִי יִרְדֹּף גֹּאֵל הַדָּם אַחֲרָיו וְלֹא־יַסְגִּרוּ אֶת־הָרֹצֵחַ בְּיָדוֹ כִּי בִבְלִי־דַעַת הִכָּה אֶת־רֵעֵהוּ וְלֹא־שֹׂנֵא הוּא לוֹ מִתְּמוֹל שִׁלְשֽׁוֹם׃
And if the avenger of blood pursue after him, then they shall not deliver up the manslayer into his hand; because he smote his neighbour unawares, and hated him not beforetime.
וְיָשַׁב בָּעִיר הַהִיא עַד־עָמְדוֹ לִפְנֵי הָעֵדָה לַמִּשְׁפָּט עַד־מוֹת הַכֹּהֵן הַגָּדוֹל אֲשֶׁר יִהְיֶה בַּיָּמִים הָהֵם אָז יָשׁוּב הָרוֹצֵחַ וּבָא אֶל־עִירוֹ וְאֶל־בֵּיתוֹ אֶל־הָעִיר אֲשֶׁר־נָס מִשָּֽׁם׃
And he shall dwell in that city, until he stand before the congregation for judgment, until the death of the high priest that shall be in those days; then may the manslayer return, and come unto his own city, and unto his own house, unto the city from whence he fled.’
וַיַּקְדִּשׁוּ אֶת־קֶדֶשׁ בַּגָּלִיל בְּהַר נַפְתָּלִי וְאֶת־שְׁכֶם בְּהַר אֶפְרָיִם וְאֶת־קִרְיַת אַרְבַּע הִיא חֶבְרוֹן בְּהַר יְהוּדָֽה׃
And they set apart Kedesh in Galilee in the hill-country of Naphtali, and Shechem in the hill-country of Ephraim, and Kiriath-arba - the same is Hebron - in the hill-country of Judah.
וּמֵעֵבֶר לְיַרְדֵּן יְרִיחוֹ מִזְרָחָה נָתְנוּ אֶת־בֶּצֶר בַּמִּדְבָּר בַּמִּישֹׁר מִמַּטֵּה רְאוּבֵן וְאֶת־רָאמֹת בַּגִּלְעָד מִמַּטֵּה־גָד וְאֶת־גּוֹלָן בַּבָּשָׁן מִמַּטֵּה מְנַשֶּֽׁה׃
And beyond the Jordan at Jericho eastward, they assigned Bezer in the wilderness in the table-land out of the tribe of Reuben, and Ramoth in Gilead out of the tribe of Gad, and Golan in Bashan out of the tribe of Manasseh.
אֵלֶּה הָיוּ עָרֵי הַמּוּעָדָה לְכֹל בְּנֵי יִשְׂרָאֵל וְלַגֵּר הַגָּר בְּתוֹכָם לָנוּס שָׁמָּה כָּל־מַכֵּה־נֶפֶשׁ בִּשְׁגָגָה וְלֹא יָמוּת בְּיַד גֹּאֵל הַדָּם עַד־עָמְדוֹ לִפְנֵי הָעֵדָֽה׃
These were the appointed cities for all the children of Israel, and for the stranger that sojourneth among them, that whosoever killeth any person through error might flee thither, and not die by the hand of the avenger of blood, until he stood before the congregation.