Deuteronomy 12:12

12:12 You shall rejoice in the presence of the Lord your God, along with your sons, daughters, male and female servants, and the Levites in your villages (since they have no allotment or inheritance with you).

Deuteronomy 16:14-15

16:14 You are to rejoice in your festival, you, your son, your daughter, your male and female slaves, the Levites, the resident foreigners, the orphans, and the widows who are in your villages. 16:15 You are to celebrate the festival seven days before the Lord your God in the place he chooses, for he will bless you in all your productivity and in whatever you do; so you will indeed rejoice!