Deuteronomy 12:7

12:7 Both you and your families must feast there before the Lord your God and rejoice in all the output of your labor with which he has blessed you.

Deuteronomy 12:12

12:12 You shall rejoice in the presence of the Lord your God, along with your sons, daughters, male and female servants, and the Levites in your villages (since they have no allotment or inheritance with you).

Deuteronomy 12:18

12:18 Only in the presence of the Lord your God may you eat these, in the place he chooses. This applies to you, your son, your daughter, your male and female servants, and the Levites in your villages. In that place you will rejoice before the Lord your God in all the output of your labor.