Halakhah for Zevachim 227:14

אמר רבי ירמיה לרבי זירא אי הכי

And if he taught about these two, I would say that the reason is because their disqualification is intrinsic; but as for an animal and its young, where the disqualification comes from without,11 I would say that the Rabbis agree with R'Simeon, Thus [all three] are necessary. FOR R'SIMEON MAINTAINED etc. What is R'Simeon's reason? - Said R'Ela in the name of Resh Lakish: Because Scripture saith, Ye shall not do after all that we do here this day, [every man whatsoever is right in his own eyes]:12 Moses spoke thus to Israel: When ye enter the [Promised] Land, ye shall offer votive [sacrifices],13 but ye shall not offer obligatory offerings. Thus Gilgal in comparison with Shiloh was premature, and Moses said to them, Ye shall not do.<span class="x" onmousemove="('comment',' The Sifre applies the text to their first fourteen years in Eretz Israel, when the Tabernacle was at Gilgal. These years were spent in conquering and sharing the land, and so one could apply to them the words, for ye are not as yet come to the rest . . which the Lord your God giveth thee');">14 Said R'Jeremiah to R'Zera: If so,15

Sefer HaChinukh

From the laws of the commandment is that which they, may their memory be blessed, said that this warning of approaching is only [about] one who approaches to [do] a service from one of the services that are specific to a priest. And it is like they, may their memory be blessed, said (Zevachim 32a), “From the receiving of the blood and onward, it is a commandment of the priesthood.” For example, pourings, mixings, wavings, bringings and many other services like these that are explained in the Gemara that are commanded to be with a priest; behold, they are all with a warning to the foreigner, and the [effected] sacrifice is disqualified. But there are [also] services that are not included in this warning, such as slaughtering, which is fit, even a priori, with a foreigner, and even of sacrifices of the highest sanctity. And so [too,] lighting the lights; such that if a priest took them outside after he arranged them, it is permitted for a foreigner to light them. And there are only four specific services among them that are weighty, such that there is liability for the death penalty for them. And they are throwing, burning incense, placement [of the sacrifice] and pouring libations. And it is about them that it is stated, “and the foreigner that approaches shall die,” as it is elucidated in the first chapter of Yoma [entitled] Kol Mi Shehu Rotseh Litrom (Yoma 24a). [This] and the rest of its details are elucidated there in Yoma and in the last chapter of Tractate Zevachim. (See Mishneh Torah, Laws of Admission into the Sanctuary 3.)

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