The Brexit Secretary said that British people had not voted for “confusion” when they took part in last year’s referendum.
As a result, he said, Parliament should respect the will of the people when it decides whether to back the Government on the European Union (Withdrawal) Bill.
The second reading vote is expected either on Monday evening or in the early hours of Tuesday.
Labour has said it will vote against the legislation, mainly because it objects to so-called Henry VIII powers, which are named after a statutory instrument used by the Tudor king to force through new laws without full parliamentary scrutiny.
Labour says these powers in the Bill amount to a “power-grab”.
“Labour will not block Brexit,” the shadow Brexit minister, Jenny Chapman, told Sky News.
“If you disagree with anything the Government does on Brexit you are a Brexit betrayer.
“Our position is about this being a very bad bill – it’s bad for our democracy, it doesn’t enable Parliament to take back control the way that people want, and crucially it gives ministers these powers that they just don’t need for Brexit.”
Sources estimate that about a dozen Labour MPs from Leave-backing constituencies could rebel against Jeremy Corbyn’s orders.
Liberal Democrats, who will oppose the legislation, have urged the Labour leader to sack any frontbenchers who defy the whip.
Several Tory MPs have expressed how unhappy they are with the Bill but are expected to back it. However, they are expected to back amendments in the future, which could leave the minority Government having to make concessions to avoid defeat.
Ahead of the debate, Mr Davis said: “A vote against this Bill is a vote for a chaotic exit from the European Union.
“The British people did not vote for confusion and neither should Parliament.
“Providing certainty and stability in the lead up to our withdrawal is a key priority.
“Businesses and individuals need reassurance that there will be no unexpected changes to our laws after exit day and that is exactly what the repeal bill provides.
“Without it, we would be approaching a cliff edge of uncertainty which is not in the interest of anyone.
“That’s why I’m urging all MPs of all parts of the UK to come together in support of this crucial legislation so that we can leave the European Union safe in the knowledge that we are ready for day one of exit.”
The Bill overturns the 1972 Act which took Britain into the European Economic Community.
In doing so, it incorporates EU laws onto the UK statute book.