Exodus 21:4-6

Amplified Bible

⁴ If his master gives him a wife, and she gives birth to sons or daughters, the wife and her children shall belong to her master, and he shall leave [your service] alone. ⁵ But if the servant plainly says, ‘I love my master, my wife and my children; I will not leave as a free man,’ ⁶ then his master shall bring him to God [that is, to the judges who act in God’s name], then he shall bring him to the door or doorpost. And his master shall pierce his ear with an awl (strong needle); and he shall serve him for life.