Halakhah sa Exodo 25:8: Mishneh Torah, The Chosen Temple, Sefer HaMitzvot, Mishneh Torah, Positive Mitzvot & Sefer HaChinukh

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."

The twentieth commandment is that we're commanded to build a Beit Ha-Behira for [Divine] service, in it will be sacrifices and an eternal burning of fire and to it will be the travel and pilgrimage on the festivals and gatherings every year. This is what the Torah said "make for me a Temple."

To build the Sanctuary, as it is said, “And they shall make me a sanctuary” (Ex. 25:8).