Positive commandment · Mitzvat Aseh #70 of 613
Sacrifice of an undetermined guilt-offering
להקריב היחיד קרבן אם נסתפק לו אם חטא חטא שחייבים עליו חטאת או לא חטא
The verse · Vayikra 5:17
וְאִם־נֶפֶשׁ כִּי תֶחֱטָא וְעָשְׂתָה אַחַת מִכׇּל־מִצְוֺת ה׳ אֲשֶׁר לֹא תֵעָשֶׂינָה וְלֹא־יָדַע וְאָשֵׁם וְנָשָׂא עֲוֺנוֹ
“And if a person sin, and commit any of these things which are forbidden to be done by the commandments of the Lord; though he know it not, yet is he guilty, and shall bear his iniquity.”
The Rambam’s words
For an individual to offer a sacrifice if he is in doubt whether or not he transgressed a prohibition for which he would be liable for a sin offering, as [Leviticus 5:17-18] states: "If he does not know, he still bears responsibility...and he shall bring his guilt offering." This is referred to as "the conditional guilt offering."
להקריב היחיד קרבן אם נסתפק לו אם חטא חטא שחייבים עליו חטאת או לא חטא, שנאמר: "וְלֹא יָדַע וְאָשֵׁם וְהֵבִיא אֶת אֲשָׁמוֹ" (ויקרא ה, יז) וזה הוא נקרא אשם תלוי.
Why · Sefer HaChinuch #128
Sacrifice of an undetermined guilt-offering
“It is from the roots of the commandment that a man should be careful, fear sin and analyze his deeds with a proper analysis that he not stumble in the matter of a sin.”
Who & when
“And [it] is practiced at the time of the [Temple] by males and females.”
Where in the Mishneh Torah
Hilchot Offerings for Unintentional Transgressions הלכות שגגות