Teraphim is a folk religion used in the ancient Near East. It was mainly made by carving wood or stone as a guardian deity for families or households. Therefore, there was no special doctrine or form, and it was worshipped in a form passed down through generations. 
The teraphim that appear in the Bible are mentioned when Rachel steals Laban's teraphim when Jacob (son of Isaac) leaves his father-in-law Laban's house. At this time, Rachel steals her father's teraphim as she leaves her home. Since Jacob did not yet clearly know God and his faith was not yet established at this time, it can be said that Rachel also did not have a firm faith in Jehovah.
Genesis 31:17and he took away all his livestock, and all his possessions which he had gathered, including the livestock which he had gained in Paddan Aram, to go to Isaac his father, to the land of Canaan.Genesis 31:18Now Laban had gone to shear his sheep; and Rachel stole the teraphim that were her father’s.Genesis 31:19Jacob deceived Laban the Syrian, in that he didn’t tell him that he was running away.Genesis 31:20So he fled with all that he had. He rose up, passed over the River, and set his face toward the mountain of Gilead.
Genesis 31:34She said to her father, “Don’t let my lord be angry that I can’t rise up before you; for I’m having my period.” He searched, but didn’t find the teraphim.Genesis 31:35Jacob was angry, and argued with Laban). Jacob answered Laban, “What is my trespass? What is my sin, that you have hotly pursued me?
미가(사사기의 제사장)는 레위 지파 아론의 후손도 아니면서 스스로 집에 산당을 짓고 자신의 아들을 제사장으로 삼으며 드라빔을 섬기는 모습을 보여준다.
Judges 18:14They went over there and came to the house of the young Levite man, even to the house of Micah, and asked him how he was doing.Judges 18:15The six hundred men armed with their weapons of war, who were of the children of Dan, stood by the entrance of the gate.Judges 18:16The five men who went to spy out the land went up, and came in there, and took the engraved image, the ephod, the teraphim, and the molten image; and the priest stood by the entrance of the gate with the six hundred men armed with weapons of war.Judges 18:17When these went into Micah’s house, and took the engraved image, the ephod, the teraphim, and the molten image, the priest said to them, “What are you doing?”Judges 18:18They said to him, “Hold your peace, put your hand on your mouth, and go with us. Be a father and a priest to us. Is it better for you to be priest to the house of one man, or to be priest to a tribe and a family in Israel?”Judges 18:19The priest’s heart was glad, and he took the ephod, the teraphim, and the engraved image, and went with the people.Judges 18:20So they turned and departed, and put the little ones, the livestock, and the goods before them.