Sefer HaMitzvot, Positive Commandments
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היא שצונו להעניק עבד עברי כשיצא לחפשי ולא יצא בידים ריקניות. והוא אמרו העניק תעניק לו. וכבר התבארו משפטי מצוה זו בפ"ק מקדושין. (ראה אנכי, הלכות עבדים פ"ג):
Sefaria Edition 2021, Translated by Rabbi Francis Nataf
That is that He commanded us to reward a Hebrew (Jewish) slave when he goes free, and not to have him leave [his owner's domain] empty-handed. And that is His saying, "You shall surely reward him" (Deuteronomy 15:8). And the regulations of this commandment have already been explained in the first chapter of Kiddushin. (See Parashat Re'eh; Mishneh Torah, Slaves 3.)