There is a word in the תנ״ך
It's a ceremony done by the brother of the deceased with the widow and the court, to RELEASE the widow from her husband that died childless. Basically he can chose between two options. 1. He can marry the wife of his dead childless brother and from that cohabitation if they produce a child it's considered his dead brothers child. Or 2. THEY can do חליצה which is a ceremony done to RELEASE the widow so she can get married again. Part of that ceremony is to release/remove the shoe of the living brother ...