Deuteronomy 12:2-6

12:2 You must by all means destroy all the places where the nations you are about to dispossess worship their gods – on the high mountains and hills and under every leafy tree. 12:3 You must tear down their altars, shatter their sacred pillars, burn up their sacred Asherah poles, and cut down the images of their gods; you must eliminate their very memory from that place. 12:4 You must not worship the Lord your God the way they worship. 12:5 But you must seek only the place he chooses from all your tribes to establish his name as his place of residence, and you must go there. 12:6 And there you must take your burnt offerings, your sacrifices, your tithes, the personal offerings you have prepared, your votive offerings, your freewill offerings, and the firstborn of your herds and flocks.

Deuteronomy 12:13-14

12:13 Make sure you do not offer burnt offerings in any place you wish, 12:14 for you may do so only in the place the Lord chooses in one of your tribal areas – there you may do everything I am commanding you.