Sefer HaMitzvot, Negative Commandments
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שהזהירנו מעלות לרגל מבלי קרבן שיהיה עמנו ונקריבנו שם. והוא אמרו יתעלה ולא יראו פני ריקם ועל כל פנים יהיו עולה ושלמים. וכבר התבארו משפטי מצוה זו במסכת חגיגה. ומצוה זו אין נשים חייבות בה. (כי תשא, הלכות חגיגה פ"א):
That He prohibited us from going up on pilgrimage without there being a sacrifice with us, such that we sacrifice it there. And that is His, may He be exalted, saying, "and none shall appear before Me empty-handed" (Exodus 23:15). And in any event, there should be a burnt-offering and peace-offerings. And the regulations of this commandment have already been explained in Tractate Hagigah. However, women are not obligated in this commandment. (See Parashat Ki Tissa; Mishneh Torah, Festival Offering 1.)