Deuteronomy 15:16-18

Amplified Bible

¹⁶ Now if the servant says to you, ‘I will not leave you,’ because he loves you and your household, since he is doing well with you; ¹⁷ then take an awl and pierce it through his ear into the door, and he shall [willingly] be your servant always. Also you shall do the same for your maidservant.^(A)

¹⁸ “It shall not seem hard to you when you set him free, for he has served you six years with double the service of a hired man; so the Lord your God will bless you in everything you do.