Sefer HaMitzvot, Negative Commandments
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הזהיר שלא לקבץ הגרעינים שיפלו בכרם בשעת בצירה אבל יעזבם לעניים. והוא אמרו ופרט כרמך לא תלקט וגו', וזה גם כן ניתק לעשה. וכבר התבארו משפטי מצוה זו במסכת פאה. (שם, שם):
He prohibited - not to gather the single grapes that fall in the vineyard at the time of the harvest. Rather one must leave them for the poor. And that is His saying, "neither shall you gather the single grapes of your vineyard, etc." (Leviticus 19:10). And this too is rectified by a positive commandment; and the regulations of this commandment have already been explained in Tractate Peah. (See Parashat Kedoshim; Mishneh Torah, Gifts to the Poor 1.)