(Ibid. 19:10) "and have them wash their garments": Whence is it derived that they (themselves) required immersion? It follows a fortiori, viz.: If where washing of garments is not required (e.g., in an instance of touching a sheretz), immersion is required, how much more so here, where washing of garments is required. There is no washing of garments in the Torah where immersion is not required.
God Commanded the Israelites to Wash Their Garments in Preparation for
Mekhilta Tractate Bachodesh 3:6