Bethel and Mizpah were places where people gathered during the time of the judges (Judges 20:1, 18, 26; 21:1–2). This was the time in Israel’s history after the death of Joshua and before the beginning of the monarchy (when kings ruled). During this time, God raised up judges to lead and deliver Israel. Bethel was important even in Abraham's time (Genesis 12:8; 13:3–4; 28:10–22; 35:1–15).
Gilgal, near Jericho, was a holy place since Joshua's time (Joshua 4:19–24; 5:2–10). From these places, Samuel guided "all the people of Israel" (1 Samuel 10:17).