Sefer HaChinuch 547

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547:1

שֶׁלֹּא לְהַנִּיחַ מִכְשׁוֹל – שֶׁלֹּא לְהַנִּיחַ הַמִּכְשׁוֹלִים וְהַמּוֹקְשִׁים בְּאַרְצוֹתֵינוּ וּבְבָתֵּינוּ, כְּדֵי שֶׁלֹּא יָמוּתוּ (רמב"ם הל' רוצח פי"א) וְלֹא יִזּוֹקוּ בָּם בְּנֵי אָדָם, וְעַל זֶה נֶאֱמַר (דברים כב ח) וְלֹא תָשִׂים דָּמִים בְּבֵיתֶךָ, וְאָמְרוּ בְּסִפְרֵי וְעָשִׂיתָ מַעֲקֶה לְגַגֶּךָ, עֲשֵׂה, וְלֹא תָשִׂים דָּמִים בְּבֵיתֶךָ, לֹא תַעֲשֶׂה.

To not leave a stumbling block: To not leave stumbling blocks and snares in our land and in our homes, so that people not die or get injured from them. (See Mishneh Torah, Murderer and the Preservation of Life 11.) And about this is it stated (Deuteronomy 22:8), “and you shall not place blood in your house.” And they said in Sifrei, “‘And you shall make a parapet for your roof’ is a positive commandment and [that] ‘and you shall not place blood in your house’ is a negative commandment.”

547:2

מִשָּׁרְשֵׁי הַמִּצְוָה. וְכָל עִנְיָנָהּ כָּתַבְתִּי בָּעֲשֵׂה שֶׁלּוֹ (מצוה תקמו) שֶׁבְּסֵדֶר זֶה, וְקָחֶנּוּ מִשָּׁם אִם נַפְשְׁךָ לָדַעַת.

I have written about the roots of this commandment and all of its matter in its [corresponding] positive commandment in this Order (Sefer HaChinukh 546) — and take it from there if you want to know.

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Mitzvah 546 Siman
Mitzvah 548 Siman