The First Amendment to the Constitution reflects that concept recognized in the Ten Commandments, that the duties we owe to God and the manner of discharging those duties are outside the purview of government.
The forefathers, including James Madison, felt very strongly that the duties that we owe to God were outside of government's prerogative, that government had no business interfering with the way we worship God.
The whole basis of the Constitution was a restriction of power, and the whole basis of the federalist system was that there was not one sovereign centralized power from which all authority flows.