Deuteronomy 15:16

New International Version

But if your servant says to you, “I do not want to leave you,” because he loves you and your family and is well off with you,

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Sacrifice and offering you did not desire— but my ears you have opened— burnt offerings and sin offerings you did not require.

I desire to do your will, my God; your law is within my heart.”

Remember that you were slaves in Egypt and the Lord your God redeemed you. That is why I give you this command today.

then take an awl and push it through his earlobe into the door, and he will become your servant for life. Do the same for your female servant.