from year to year
1 Samuel 1:3
And this man went up out of his city yearly to worship and to sacrifice unto the LORD of hosts in Shiloh. And the two sons of Eli, Hophni and Phinehas, the priests of the LORD, were there.
1 Samuel 1:21
And the man Elkanah, and all his house, went up to offer unto the LORD the yearly sacrifice, and his vow.
Exodus 23:14
Three times thou shalt keep a feast unto me in the year.