Positive commandment · Mitzvat Aseh #39 of 613
To offer the tamid offerings each day
להקריב תמידין בכל יום
The verse · Bamidbar 28:3
וְאָמַרְתָּ לָהֶם זֶה הָאִשֶּׁה אֲשֶׁר תַּקְרִיבוּ לַה׳ כְּבָשִׂים בְּנֵי־שָׁנָה תְמִימִם שְׁנַיִם לַיּוֹם עֹלָה תָמִיד
“And thou shalt say to them, This is the fire offering which you shall offer to the Lord; two lambs of the first year without blemish day by day, for a continual burnt offering.”
The Rambam’s words
To offer the tamid offerings each day, as [Numbers 28:3] states: "[This is the fire offering...] two each day continuously."
להקריב תמידין בכל יום, שנאמר: "שְׁנַיִם לַיּוֹם עוֹלָה תָמִיד" (במדבר כח, ג).
Who & when
“And this commandment is practiced at the time of the [Temple]; and it is from the commandments that are incumbent upon the community, and especially on the priests.”
Where in the Mishneh Torah
Hilchot Daily Offerings and Additional Offerings הלכות תמידים ומוספין