On the basis of a free module over a PID

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We have a famous theorem for a vector space which states that "every set of generators of a vector space $V$ over a field $F$ contains a basis of $V$". Is this statement true for a free module (probably over a PID) instead of the vector space $V$?

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No. Consider the set $\{2,3\}$, which generates $\mathbb{Z}$ as a $\mathbb{Z}$-module; it does not contain a basis of $\mathbb{Z}$.