Deuteronomy 24:18
But thou shalt remember that thou wast a bondman in Egypt, and the Lord thy God redeemed thee thence: therefore I command thee to do this thing.
Cross-reference
Deuteronomy 24:22 repeats the exact same rationale — remember slavery and redemption — as motivation for these commands.
In Deuteronomy 5:15, the same 'remember slavery and redemption' formula is used to motivate Sabbath observance.
Deuteronomy 15:15 uses the identical phrase about remembering slavery and redemption to command releasing slaves.
Deuteronomy 16:12 repeats the same remembrance of Egypt to call for careful observance of statutes.
Exodus 13:3 also commands remembering the exodus from slavery, though with different wording and context.
Jeremiah 34:13 recalls the covenant made when God brought Israel out of Egypt, echoing the redemption theme.
Micah 6:4 describes God bringing Israel up from Egypt and redeeming them from slavery, similar to the memory cited here.