וְכָל־חֲכַם־לֵ֖ב בָּכֶ֑ם יָבֹ֣אוּ וְיַעֲשׂ֔וּ אֵ֛ת כָּל־אֲשֶׁ֥ר צִוָּ֖ה יְהוָֽה׃
און אַלע קלוגהאַרציקע צװישן אײַך זאָלן קומען און מאַכן אַלץ װאָס גאָט האָט באַפֿױלן:
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."