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Sefer HaMitzvot, Positive Commandments

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היא שצונו לישא אמה העבריה אדוניה שקנה אותה או בנו וזו היא מצות יעוד קודמת למצות פדיה באמרו אשר לא יעדה והפדה. ודע שדין עבד עברי ודין אמה העבריה אינו נוהג אלא בזמן שהיובל נוהג. וכבר התבארו משפטי מצוה זו בפ"ד ממסכת קדושין.

Sefaria Edition 2021, Translated by Rabbi Francis Nataf

That is that He commanded us that the master who acquired a Hebrew (Jewish) maidservant marry her - [he] or his son. And that is the commandment of designation [that] has precedence over the commandment of redemption, by His saying, "who designated her for himself, he must let her be redeemed" (Exodus 21:8). But you should know that the law of a Hebrew slave and a Hebrew maidservant are only practiced at the time that the Jubilee is practiced. And the regulations of this commandment have already been explained in Chapter 4 of Tractate Kiddushin.