Sefer HaMitzvot, Negative Commandments
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שהזהירנו שלא לשכב עם הבהמות זכריהן ונקבותיהן. והוא אמרו יתעלה ובכל בהמה לא תתן שכבתך. והעובר על לאו זה במזיד חייב סקילה ואם לא יסקל הנה הוא בכרת, ואם היה שוגג יביא חטאת קבועה:
Sefaria Edition 2021, Translated by Rabbi Francis Nataf
He prohibited us from sexual relations with animals - their males and their females. And that is His, may He be exalted, saying, "And with every beast do not give your lying" (Leviticus 18:23). And one who transgresses this negative commandment volitionally is liable for stoning; and if he is not stoned, he is surely [punished] with excision. But if he was inadvertent, he must bring a fixed sin-offering.