In Shemot 21:6 the Torah states the commandment of God וְהִגִּישׁוֹ אֲדֹנָיו אֶל־הָאֱלֹקים וְהִגִּישׁוֹ אֶל־הַדֶּלֶת אוֹ אֶל־הַמְּזוּזָה וְרָצַע אֲדֹנָיו אֶת־אׇזְנוֹ בַּמַּרְצֵעַ וַעֲבָדוֹ לְעֹלָם׃ {ס} [the slave's] master shall take him before God. He shall be brought to the door or the doorpost, and his master shall pierce his ear with an awl; and he shall then remain his master’s slave for eternity.
I would like to know if a blessing is made before performing this mitzvah and if so what the text of the blessing would be