It is best to run on some surface that could soften your steps so that your legs don't get clogged and your knees don't get killed.
A surface such as rubber or the one on special treadmills that is found in almost every football stadium is ideal, and soil can also work. As for the asphalt, this is undesirable, but if you run 2-3 km, it will be fine. Running technique is important, but if you do not have it, then there is a risk of injury on any surface, but there is nothing particularly difficult in it and the leg will catch it if you run often.
If you run on rough terrain, then the load on the knee joints is less than when running on asphalt. If you need a strong load on your legs, then it's better to run on asphalt. However, you should always remember that running technique is important when running on any surface. In addition, if the legs are weak, then any jogging will not bring any benefit.
When running on an intersection, it is especially important to watch where you are running and where your foot steps. If you do not do this, you can get injured: catch on a twig, for example, and twist your leg. If you run a marathon or a half marathon on the asphalt, then you need special training; running technique plays the most important role. Running on any surface can be traumatic, so you need to work on your running technique first.