Deuteronomy 15:15-17

Amplified Bible

¹⁵ And you shall remember and thoughtfully consider that you were [once] a slave in the land of Egypt, and the Lord your God redeemed you; therefore, I am commanding you these things today. 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)