Sefer HaMitzvot, Positive Commandments
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היא שצונו לברכו אחר אכילה והוא אמרו ואכלת ושבעת וברכת את ה' אלהיך. ולשון התוספתא ברכת המזון מן התורה שנאמר ואכלת ושבעת וברכת. וכבר התבארו משפטי מצוה זו במקומות רבים ממסכת ברכות. (והיה עקב, אהבה הלכות ברכות פ"א):
That is that He commanded us to bless Him after eating. And that is His saying, "And you shall eat and be satiated, and bless the Lord, your God" (Deuteronomy 8:10). And the language of the Tosefta (Tosefta Berakhot 6:1) is, "Grace over the meals is [an obligation] from the Torah, as it is stated, 'And you shall eat and be satiated, and bless.'" And the regulations of this commandment have already been explained in many places in Tractate Berakhot. (See Parashat Ekev, Mishneh Torah, Blessings 1.)