God asked the Israelities for absolute obedience in their journey to the promised land:
23:20 “See, I am sending an angel before you to protect you on your journey and lead you safely to the place I have prepared for you. 21 Pay close attention to him, and obey his instructions. Do not rebel against him, for he is my representative, and he will not forgive your rebellion.
He also promised blessings for obedience:
23:25 “You must serve only the Lord your God. If you do, I will bless you with food and water, and I will protect you from illness. 26 There will be no miscarriages or infertility in your land, and I will give you long, full lives.
But the requirement was total loyalty:
32-33 Make no treaties with them or their gods.They must not live in your land, or they will cause you to sin against me. If you serve their gods, you will be caught in the trap of idolatry.
Moses wrote down everything God told him, then took it back to the Israelities; They accepted everything:
24:3 Then Moses went down to the people and repeated all the instructions and regulations the Lord had given him. All the people answered with one voice, ‘We will do everything the Lord has commanded.’