שׂ֣וֹם תָּשִׂ֤ים עָלֶ֙יךָ֙ מֶ֔לֶךְ אֲשֶׁ֥ר יִבְחַ֛ר יְהוָ֥ה אֱלֹהֶ֖יךָ בּ֑וֹ מִקֶּ֣רֶב אַחֶ֗יךָ תָּשִׂ֤ים עָלֶ֙יךָ֙ מֶ֔לֶךְ לֹ֣א תוּכַ֗ל לָתֵ֤ת עָלֶ֙יךָ֙ אִ֣ישׁ נָכְרִ֔י אֲשֶׁ֥ר לֹֽא־אָחִ֖יךָ הֽוּא׃
maka engkau harus mengangkat seorang raja atas dirimu, yaitu raja yang akan dipilih oleh Yang Mahakekal, Allahmu. Dari antara saudara-saudaramu haruslah engkau mengangkat seorang raja atas dirimu; engkau tidak boleh mengangkat atas dirimu seorang asing yang bukan saudaramu.
Sefer HaMitzvot
That is that He commanded us to appoint a king upon us - [that] he gather all of our nation and lead us. And that is His, may He be blessed, saying, "You surely may set a king over you" (Deuteronomy 17:15). And the language of the Sifrei already preceded us (Sifrei Devarim 67:1), "Three commandments were commanded to Israel upon their entrance to the land: To appoint a king over them; to build the [Temple]; and to cut off the seed of Amalek." And the [further] language of the Sifrei (Sifrei Devarim 157:6) is, "'You surely may set a king over you' [...] - that his awe be over you," and that we place in our hearts the utmost honor, glory, praise and status of the highest magnitude which has nothing above it about him, until his level for us is greater than the level of the prophet, and of the other prophets that will be in his generation. Anytime that the commandment of the king does not contradict a commandment of the Torah, we are surely obligated to listen to his commandment. And one who transgresses his commandment and does not listen to him is surely fit - and it is permissible - for the king to kill [him] as he wishes; and as Israel said about themselves (Joshua 1:18), "Any man who flouts your commands, etc." And anyone who rebels against the monarchy can have his blood avenged by a king who was established according to the Torah. And the regulations of this commandment have already been explained in Sanhedrin and in Chapter 1 of Keritot and 7 of Sotah. (See Parashat Shoftim; Mishneh Torah, Kings and Wars 1.)