Komentaryong Sumisipi para sa Mga Awit 94:14

It is well to remember that the Tabernacle in Gilgal was the very same which the Israelites had carried with them by dismantling it and putting it together again for the last 38 years. Once the people arrived at Shiloh we find for the first time that the “Tabernacle” is referred to as בית, “house” in Samuel I 1,24. [This “house” though it had solid walls as distinct from the Tabernacle in the desert, did not have a permanent solid roof. This is why it was also known as משכן as we know from Psalms 78,60: “He abandoned the Tabernacle in Shiloh, the tent He had set among men.” At that time private altars were forbidden once again. All of this is reflected in the two terms מנוחה and נחלה used by Moses in our verse. Had Moses not said that in the first instance the people would not come to מנוחה, we would not have had a source for permitting private altars while the Tabernacle stood in Gilgal. This was a period of 14 years. After the destruction of the Tabernacle/House in Shiloh, the Tabernacle which had served as such in the desert was erected in the towns Nov and Givon respectively where it remained for 57 years. The private altars were once again permitted during that period [seeing there were neither camps nor a “house.” Ed.]. Finally, when the Temple was erected in Jerusalem, i.e. נחלה, private altars were outlawed once and for all. By mentioning both the words מנוחה and נחלה, Moses indicates that in the interval between these two stages of “Rest” private altars would once again be permitted, i.e. during the period of Nov and Givon.
Our sages in Zevachim 119 explain the separation between the words מנוחה and נחלה by the word ואל as indicative of the permission to offer sacrifices on private altars during the periods between when the Temple stood in Shiloh and when it was built in Yerushalayim. The reason the Torah applied the term מנוחה to the period when the Temple/Tabernacle stood in Shiloh is that the verse (10) promising מנוחה from all our enemies (i.e. the end of the conquest) was fulfilled at that time. The reason that the word נחלה is used by Moses to describe the Temple in Yerushalayim is that David speaks about G’d never abandoning (permanently) עמו ונחלתו in Psalms 94,14. Psalms 132,13 had already mentioned that G’d had selected Zion as His residence which He wanted. Another verse in Psalms 135, כי יעקב בחר לו י-ה לסגולתו, is interpreted by Maimonides as expressing the same thought.