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Leviticus 25:54
If he isn’t redeemed by these means, then he shall be released in the Year of Jubilee: he and his children with him.

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Leviticus 25:10
You shall make the fiftieth year holy, and proclaim liberty throughout the land to all its inhabitants. It shall be a jubilee to you; and each of you shall return to his own property, and each of you shall return to his family.

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Leviticus 25:40
As a hired servant, and as a temporary resident, he shall be with you; he shall serve with you until the Year of Jubilee.

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Leviticus 25:41
Then he shall go out from you, he and his children with him, and shall return to his own family, and to the possession of his fathers.

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Exodus 21:2
“If you buy a Hebrew servant, he shall serve six years, and in the seventh he shall go out free without paying anything.

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