Maimonides
That an offering shall be brought by one who has in error committed a trespass against sacred things, or robbed, or lain carnally with a bond-maid betrothed to a man, or denied what was deposited with him and swore falsely to support his denial. This is called a trespass-offering for a known trespass.
Maimonides gives no single verse for this commandment; it rests on the tradition he describes above.