The law of Moses pointed out the cases in which the servants of the Hebrews were to receive their freedom (Exodus 21:2-4,7,8; Leviticus 25:39-42,47-55; Deuteronomy 15:12-18). Under the Roman law the "freeman" (ingenuus) was one born free; the "freedman" (libertinus) was a manumitted slave, and had not equal rights with the freeman (Acts 22:28; Compare Acts 16:37-39; 21:39; 22:25; 25:11,12).
These dictionary topics are from M.G. Easton M.A., D.D., Illustrated Bible Dictionary, Third Edition, published by Thomas Nelson, 1897. Public Domain, copy freely.
Easton, Matthew George. "Entry for 'Freedom'". "Easton's Bible Dictionary".