Deuteronomy 12:5-9

51But you shall seek the Lord at the place which the Lord your God will choose from all your tribes, to establish His name there for His dwelling, and there you shall come. 6There you shall bring your burnt offerings, your sacrifices, 2your tithes, the 3contribution of your hand, your votive offerings, your freewill offerings, and the firstborn of your herd and of your flock. 7There also you and your households shall eat before the Lord your God, and 4rejoice in all 5your undertakings in which the Lord your God has blessed you.

8“You shall not do at all what we are doing here today, 6every man doing whatever is right in his own eyes; 9for you have not as yet come to 7the resting place and the 8inheritance which the Lord your God is giving you.