Mishneh Torah — Positive Mitzvot מצוות עשה, Chapter 39
The full Hebrew text of Mishneh Torah, Positive Mitzvot, Chapter 39, with English translation by Maimonides (Rambam).
להקריב תמידין בכל יום, שנאמר: "שְׁנַיִם לַיּוֹם עוֹלָה תָמִיד" (במדבר כח, ג).
To offer the tamid offerings each day, as [Numbers 28:3] states: "[This is the fire offering...] two each day continuously."