Deuteronomy 19:17-18

19:17 then both parties to the controversy must stand before the Lord, that is, before the priests and judges who will be in office in those days. 19:18 The judges will thoroughly investigate the matter, and if the witness should prove to be false and to have given false testimony against the accused,

Deuteronomy 21:2

21:2 your elders and judges must go out and measure how far it is to the cities in the vicinity of the corpse.

Deuteronomy 25:1

25:1 If controversy arises between people, they should go to court for judgment. When the judges hear the case, they shall exonerate the innocent but condemn the guilty.