Leviticus 25:41

And then shall he depart from thee, both he and his children with him, and shall return unto his own family, and unto the possession of his fathers shall he return.

Cross-reference

Leviticus 25:10 proclaims Jubilee liberty — this verse (41) applies that liberty to the individual slave returning home.

Leviticus 25:28 describes land returning in Jubilee — this verse mirrors that for persons, both part of the same restoration.

Leviticus 25:54 restates the same release in Jubilee — directly parallel to the rule here about the servant going free.

Exodus 21:3 similarly states that a servant's family leaves with him, closely matching the family release command in Leviticus 25:41.