Was there a judicial mediation system in ancient China?

The traditional mediation system is a kind of judicial system to realize the ideal of "no litigation" in ancient China. From the pre-Qin Dynasty to the Ming and Qing Dynasties, the mediation system has always played an important role in dealing with social disputes. The most significant difference between traditional China and the modern West in terms of judicial system lies in the former's great reliance on the civil mediation system.