Halakhah comes from three sources: from the Torah, from laws instituted by the rabbis and from long-standing customs. Halakhah from any of these sources can be referred to as a mitzvah (commandment; plural: mitzvot). The word "mitzvah" is also commonly used in a casual way to refer to any good deed. Because of this imprecise usage, sophisticated halakhic discussions are careful to identify mitzvot as being mitzvot d'oraita (an Aramaic word meaning "from the Torah") or mitzvot d'rabbanan (Aramaic for "from the rabbis"). A mitzvah that arises from custom is referred to as a minhag. Mitzvot from all three of these sources are binding, though there are differences in the way they are applied
כל פיקוח נפש דוחה שבת והזריז הרי זה משובח אפילו נפלה דליקה בחצר אחרת וירא שתעבור לחצר זו ויבא לידי סכנה מכבין כדי שלא תעבור:
אַרְבַעַת מִינִין הָאֵלּוּ שֶׁהֵן לוּלָב וַהֲדַס וַעֲרָבָה וְאֶתְרוֹג שֶׁהָיָה אֶחָד מֵהֶן יָבֵשׁ אוֹ גָּזוּל אוֹ גָּנוּב אֲפִלּוּ לְאַחַר יֵאוּשׁ אוֹ שֶׁיִּהְיֶה מֵאֲשֵׁרָה הַנֶּעֱבֶדֶת אַף עַל פִּי שֶׁבִּטְּלוּ הָאֲשֵׁרָה מִלְּעָבְדָהּ. אוֹ שֶׁהָיָה שֶׁל עִיר הַנִּדַּחַת. הֲרֵי זֶה פָּסוּל. הָיָה אֶחָד מֵהֶן שֶׁל עֲבוֹדַת כּוֹכָבִים לֹא יִטּל לְכַתְּחִלָּה וְאִם נָטַל יָצָא. הָיָה כָּמוּשׁ וְלֹא גָּמַר לִיבַשׁ כָּשֵׁר. וּבִשְׁעַת הַדְּחָק אוֹ בִּשְׁעַת הַסַּכָּנָה לוּלָב הַיָּבֵשׁ כָּשֵׁר אֲבָל לֹא שְׁאָר הַמִּינִין:
These four species — which are the palm branch, the myrtle, the willow and the citron — one of which was dry; robbed or stolen — even after abandonment; or from a tree-god (asheirah) that was worshiped — even though they nullified the tree-god from being served (any longer); or of a condemned city: [In any of these cases,] they are surely disqualified. [In a case of] one of them [that belonged] to idolatry: One should not lift it up at the outset. But if he lifted it up, he has fulfilled [the commandment. If] it was wilting but it did not completely dry — it is fit. And in a time of duress or a time of danger — a dry palm branch is fit. But not the other species.
הַמִּתְפַּלֵּל תְּפִלָּה קֹדֶם זְמַנָּהּ לֹא יָצָא יְדֵי חוֹבָתוֹ וְחוֹזֵר וּמִתְפַּלֵּל אוֹתָהּ בִּזְמַנָּהּ. וְאִם הִתְפַּלֵּל תְּפִלַּת שַׁחֲרִית בִּשְׁעַת הַדְּחָק אַחַר שֶׁעָלָה עַמּוּד הַשַּׁחַר יָצָא. וְיֵשׁ לוֹ לְהִתְפַּלֵּל תְּפִלַּת עַרְבִית שֶׁל לֵילֵי שַׁבָּת בְּעֶרֶב שַׁבָּת קֹדֶם שֶׁתִּשְׁקַע הַחַמָּה. וְכֵן יִתְפַּלֵּל עַרְבִית שֶׁל מוֹצָאֵי שַׁבָּת בְּשַׁבָּת לְפִי שֶׁתְּפִלַּת עַרְבִית רְשׁוּת אֵין מְדַקְדְּקִין בִּזְמַנָּהּ. וּבִלְבַד שֶׁיִּקְרָא קְרִיאַת שְׁמַע בִּזְמַנָּהּ אַחַר צֵאת הַכּוֹכָבִים:
One who recites a service, before the time appointed, has not fulfilled his duty and has to recite it again at the right time. But, if a person, on an urgent occasion, has recited the morning service after dawn (but before sunrise) he has fulfilled his duty. The evening service for the Sabbath Eve should be recited on the Eve of the Sabbath, before sunset. So the evening service for the close of the sabbath may be recited on the sabbath; the reason being that as the evening service is optional, one need not be strict as to the time of its recital; provided that the Shema is read at the proper time after the stars are visible.

