If one found an item that is below one’s dignity to pick up – and even if it was one’s own property one would leave it on the street – then one need not deal with it. However, it’s appropriate to anyway deal with it.

Since it’s a Mitzvah to return a person’s earthly property, then it’s definitely a Mitzvah to return a person’s spiritual property; the Torah which is our heritage.

Applies to everybody, everywhere, always

Verse: “…you shall surely return them your fellow man” (Devarim 22:1)

Source: The Chafetz-Chaim’s Sefer haMitzvot haKatzar; Positive Mitzvah 69

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