God did not just condemn forms of worship that were inappropriate, but He instructed the Israelites positively how they were to worship Him. [source][source][source]
"The point of the section is this: those who worship this holy God must preserve holiness in the way they worship-they worship where he permits, in the manner he prescribes, and with the blessings he promises." [1][source]
This pericope serves as an introduction to42judgments in Exodus 21:1 to Exodus 23:12. A similar section repeats the emphases of the introduction and forms a conclusion to the judgments ( Exodus 23:13-19). [2][source]
Prohibition of idolatry( Exodus 20:22-23)Proper forms of worship( Exodus 20:24-26)42judgments( Exodus 21:1 to Exodus 23:12)Prohibition of idolatry( Exodus 23:13)Proper forms of worship( Exodus 23:14-19)[source]