The Literal Commandment
"You shall not worship their gods, nor serve them, nor do according to their deeds; but you shall utterly overthrow them and break their sacred pillars in pieces. But you shall serve the LORD your God, and He will bless your bread and your water; and I will remove sickness from your midst. There shall be no one miscarrying or barren in your land; I will fulfill the number of your days." (Exodus 23:24-26)
The literal commandment is that we should "serve the LORD" our G-d. How we should serve Him is not specified in this passage.