Matthew Henry Commentary Exodus 20:22-26

"And Jehovah said unto Moses, Thus thou shalt say unto the children of Israel, Ye yourselves have seen that I have talked with you from heaven. Ye shall not make [other gods] with me; gods of silver, or gods of gold, ye shall not make unto you. An altar of earth thou shalt make unto me, and shalt sacrifice thereon thy burnt-offerings, and thy peace-offerings, thy sheep, and thine oxen: in every place where I record my name I will come unto thee and I will bless thee. And if thou make me an altar of stone, thou shalt not build it of hewn stones; for if thou lift up thy tool upon it, thou hast polluted it. Neither shalt thou go up by steps unto mine altar, that thy nakedness be not uncovered thereon." — Exodus 20:22-26 (ASV)

Moses having entered into the thick darkness, God there spoke in his hearing all that follows from this point to the end of chapter 23, which is mostly an exposition of the ten commandments. The laws in these verses relate to God's worship. The Israelites are assured of God's gracious acceptance of their devotions. Under the gospel, people are encouraged to pray everywhere, and wherever God's people meet in his name to worship him, he will be in the midst of them; there he will come to them, and will bless them.