Deuteronomy 12:5-7 says: “But you are to seek the place the Lord your God will choose from among all your tribes to put his Name there for His dwelling. To that place you must go; there bring your burnt offerings and sacrifices, your tithes and special gifts, what you have vowed to give and your freewill offerings, and the firstborn of your herds and flocks. There, in the presence of the Lord your God, you and your families shall eat and shall rejoice in everything you have put your hand to, because the Lord your God has blessed you.”
When Prophet Muhammad (peace be upon him) came, he carried out this instruction. Muslims go to Makkah, a place in the wilderness of Paran as the Bible said in Genesis 21:21. It is a place blessed by God Where Prophet Ibrahim (peace be upon him) built a house of prayer or a house of God.
Watch this video to know how Hajj (pilgrimage) is referred to in the Bible!