וְכִ֧י תִזְבְּח֛וּ זֶ֥בַח שְׁלָמִ֖ים לַיהוָ֑ה לִֽרְצֹנְכֶ֖ם תִּזְבָּחֻֽהוּ׃
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Ba'alei Brit Avram
You shall each fear your mother and your father, etc.: He first commanded about the fear of father and mother, because one who honors his father and mother, and is afraid of them, recognizes those who gave him birth and who created him. And likewise is it incumbent upon his father and mother to also do to their forebears, and likewise those to those up until the supernal Elder who created everything. And so, from the fear of one's father and mother, he will recognize the existence of the Creator, may He be blessed, and His awe. This is along the lines of that which [the Sages] said (Kiddushin 30b), "I count it for you as if I lived among them and you honored Me." And from the Shabbat as well, we know and we believe in the origin of the world and that it has an Originator who originated it during the six days of creation. So, "I am the Lord your God," will then be fulfilled. And afterwards He warned about combination [of God with other forces], like His saying (Leviticus 19:4), "Do not turn to the idols," and distance yourself from that which is ugly and that which is similar to it, from combination and that which is similar to it. And because of this, he warned about the thinking of pigul, which is when he slaughters a sacrifice today in order to eat from it tomorrow, outside of its [allotted] time. For it is necessary to not mix and combine any other thought with it. And this is the meaning of (Leviticus 19:5), "you shall slaughter it to be acceptable for you."
Rashi
ידבנו לבו — The word ידבנו is of the same root as נדבה (the נ in the latter being replaced by the Dagesh in the ד); it is a term denoting “good-will”, apaisement in old French (cf. Rashi on Genesis 33:10 and Leviticus 19:5).
Kli Yakar
We can further say, regarding the connection between you shall slaughter it for your acceptance [lirtzonchem, which can also be understood as by your will] (Leviticus 19:5) and the verse Do not turn to idols (Leviticus 19:4), that they should not conduct their slaughtering to God in the manner of idol worshippers, who only sacrifice when they receive benefits and attribute those benefits to their idols, as it is written: Therefore he sacrifices to his net and burns incense to his dragnet, for by them his portion is rich and his food plentiful (Habakkuk 1:16). This is not willing sacrificing, but rather from the necessity of having received benefits. However, you shall not do so to the Lord; rather, you shall slaughter it by your will, as if you have no compelling reason forcing you to sacrifice, and you should have no foreign intention but rather intend only to give satisfaction before Him. Any foreign thought is called “outside its time” and “outside its place,” for this is neither its proper place nor time, and it is called “unaware action upon sacred sacrifices” without primarily and essentially focusing on the sacrifice. This matter is clear to those who understand and reasonable to hear.
Rashi
My holy things have you despised And not as I said (Lev. 22:29): “you shall slaughter it as an expression of your good will.”