What Does the Bible Say About the Regulative Principle of Worship? (Part 1)

The regulative principle of worship states that in worship we must do the things which God has commanded, and we are not to do the things God has not commanded.  The normative principle states that we can do things God has not commanded so long as we do not do things prohibited.  What does the Bible say? Ultimately, our knowledge about how to worship God can either come from God or man; therefore, everything that God does not command, by necessity comes from man, and is therefore idolatry.