כִּ֥י לֹא־בָּאתֶ֖ם עַד־עָ֑תָּה אֶל־הַמְּנוּחָה֙ וְאֶל־הַֽנַּחֲלָ֔ה אֲשֶׁר־יְהוָ֥ה אֱלֹהֶ֖יךָ נֹתֵ֥ן לָֽךְ׃
Przeto, żeście nie dostąpili dotąd spoczynku i posiadłości, którą Wiekuisty, Bóg twój, nadaje tobie.
Mishneh Torah, The Chosen Temple
It is a positive obligation to build a house for God where offerings may be brought and to make pilgrimage to it three times a year as it says "and they shall make Me a sanctuary." The tabernacle which Moses made in the desert has already been described in the Torah, but it was a temporary measure, as it says "for you have not yet reached, etc."