Find a set of linear equations whose solution is the same as the minimum of a given quadratic objective function

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Given an objective function $||x_1 a_1 - x_2 a_2 - b||$, where $a_1, a_2$ and $b$ are 3-dimensional vectors, how can I find the two linear equations for the $x_1$ and $x_2$ whose solution will find such $x_1$ and $x_2$ that the objective function will be minimized?