You can summon a Rascal without any mod or resource pack using the command below.

To spawn a Rascal, you have to obtain a Rascal Spawn Egg. You have to throw a cyan dye and an egg to the ground to make a Rascal Spawn Egg or right-click on the sign on the side of the command box that is written: "[​GIVE EGG]".

Watch on Youtube: https://youtu.be/VTgjTGk8iO8
Official command: https://torchcraftyt.github.io/Commands/Rascal.html
Command on JustPaste.it: https://justpaste.it/rascal

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Triple-click to select all the commands then right-click and choose copy. Next, get in your world, and give yourself a command block (using /give @s command_block). Paste the command in the command block (using Ctrl+C or Cmd+C). Finally, place a Redstone block next to the command block.

Command: (triple-click to select all)
summon minecraft:falling_block ~ ~1 ~ {BlockState:{Name:"redstone_block"},Time:1,Passengers:[{id:villager,Health:0,Passengers:[{id:falling_block,Time:1,BlockState:{Name:"activator_rail"},Passengers:[ {id:command_block_minecart, Command: 'gamerule commandBlockOutput false'}, {id:command_block_minecart, Command: 'scoreboard objectives add rascalID dummy'}, {id:command_block_minecart, Command: 'fill ~1 ~-2 ~0 ~9 ~1 ~3 minecraft:oxidized_copper'}, {id:command_block_minecart, Command: '/fill ~9 ~0 ~3 ~1 ~-1 ~0 minecraft:cyan_stained_glass'}, {id:command_block_minecart, Command: 'setblock ~0 ~1 ~1 minecraft:oak_wall_sign[facing=west,waterlogged=false]{Color:"white",GlowingText:1b,Text1:\'{"text":"RASCAL"}\',Text2:\'{"text":"COMMAND BOX"}\',Text3:\'{"text":""}\',Text4:\'{"text":""}\'}'}, {id:command_block_minecart, Command: '/setblock ~0 ~1 ~2 minecraft:oak_wall_sign[facing=west,waterlogged=false]{Color:"white",GlowingText:1b,Text1:\'{"text":"made by"}\',Text2:\'{"text":"TorchCraft"}\',Text3:\'{"text":""}\',Text4:\'{"text":""}\'}'}, {id:command_block_minecart, Command: '/setblock ~0 ~0 ~1 minecraft:oak_wall_sign[facing=west,waterlogged=false]{Color:"black",GlowingText:0b,Text1:\'{"color":"dark_blue","clickEvent":{"action":"run_command","value":"give @s glow_squid_spawn_egg{EntityTag:{id:armor_stand,Invisible:1b,Tags:[rascal-spawner]},display:{Name:\\\'[{\\\\"text\\\\":\\\\"Rascal Spawn Egg\\\\",\\\\"italic\\\\":false}]\\\'}} 1"},"text":"[GIVE EGG]"}\',Text2:\'{"text":""}\',Text3:\'{"text":""}\',Text4:\'{"text":""}\'}'}, {id:command_block_minecart, Command: '/setblock ~ ~ ~2 minecraft:oak_wall_sign[facing=west,waterlogged=false]{Color:"black",GlowingText:0b,Text1:\'{"color":"dark_red","clickEvent":{"action":"run_command","value":"fill ~0 ~-2 ~-2 ~9 ~1 ~1 air"},"text":"[UNINSTAL]"}\',Text2:\'{"text":""}\',Text3:\'{"text":""}\',Text4:\'{"text":""}\'}'}, {id:command_block_minecart, Command: '/setblock ~2 ~-1 ~2 minecraft:repeating_command_block[conditional=false,facing=east]{Command:"/execute as @e[tag=rascal-control] at @e[tag=rascal-brain] if score @s rascalID = @e[limit=1,distance=0] rascalID run tp @s ~ ~ ~ ~ 0",auto:1b,conditionMet:1b,powered:0b}'}, {id:command_block_minecart, Command: '/setblock ~3 ~-1 ~2 minecraft:chain_command_block[conditional=false,facing=east]{Command:"/execute as @e[tag=rascal-head] at @e[tag=rascal-control] if score @s rascalID = @e[limit=1,distance=0] rascalID run tp @s ^ ^ ^.525 ~ ~",auto:1b,conditionMet:1b,powered:0b}'}, {id:command_block_minecart, Command: '/setblock ~4 ~-1 ~2 minecraft:chain_command_block[conditional=false,facing=east]{Command:"/execute as @e[tag=rascal-body1] at @e[tag=rascal-control] if score @s rascalID = @e[limit=1,distance=0] rascalID run tp @s ~ ~-1.4 ~ ~ ~",auto:1b,conditionMet:1b,powered:0b}'}, {id:command_block_minecart, Command: '/setblock ~5 ~-1 ~2 minecraft:chain_command_block[conditional=false,facing=east]{Command:"/execute as @e[tag=rascal-body2] at @e[tag=rascal-control] if score @s rascalID = @e[limit=1,distance=0] rascalID run tp @s ~ ~-0.775 ~ ~ ~",auto:1b,conditionMet:1b,powered:0b}'}, {id:command_block_minecart, Command: '/setblock ~6 ~-1 ~2 minecraft:chain_command_block[conditional=false,facing=east]{Command:"/execute as @e[tag=rascal-backpack] at @e[tag=rascal-control] if score @s rascalID = @e[limit=1,distance=0] rascalID run tp @s ^ ^-0.775 ^-0.2 ~180 ~",auto:1b,conditionMet:1b,powered:0b}'}, {id:command_block_minecart, Command: '/setblock ~7 ~-1 ~2 minecraft:chain_command_block[conditional=false,facing=east]{Command:"/execute as @e[tag=rascal-head] at @s unless entity @e[tag=rascal-brain,distance=..1] run kill @s",auto:1b,conditionMet:1b,powered:0b}'}, {id:command_block_minecart, Command: '/setblock ~8 ~-1 ~2 minecraft:chain_command_block[conditional=false,facing=north]{Command:"/execute as @e[tag=rascal-control] at @s unless entity @e[tag=rascal-brain,distance=..1] run kill @s",auto:1b,conditionMet:1b,powered:0b}'}, {id:command_block_minecart, Command: '/setblock ~2 ~-1 ~1 minecraft:repeating_command_block[conditional=false,facing=east]{Command:"execute as @e[tag=rascal-new] run scoreboard players operation @s rascalID = .index rascalID",auto:1b,conditionMet:1b,powered:0b}'}, {id:command_block_minecart, Command: '/setblock ~3 ~-1 ~1 minecraft:chain_command_block[conditional=true,facing=east]{Command:"scoreboard players add .index rascalID 1",auto:1b,conditionMet:0b,powered:0b}'}, {id:command_block_minecart, Command: '/setblock ~4 ~-1 ~1 minecraft:chain_command_block[conditional=true,facing=east]{Command:"tag @e[tag=rascal-new] remove rascal-new",auto:1b,conditionMet:0b,powered:0b}'}, {id:command_block_minecart, Command: '/setblock ~6 ~-1 ~1 minecraft:chain_command_block[conditional=false,facing=west]{Command:"/execute as @e[tag=rascal-backpack] at @s unless entity @e[tag=rascal-brain,distance=..1] run kill @s",auto:1b,conditionMet:1b,powered:0b}'}, {id:command_block_minecart, Command: '/setblock ~7 ~-1 ~1 minecraft:chain_command_block[conditional=false,facing=west]{Command:"/execute as @e[tag=rascal-body2] at @s unless entity @e[tag=rascal-brain,distance=..1] run kill @s",auto:1b,conditionMet:1b,powered:0b}'}, {id:command_block_minecart, Command: '/setblock ~8 ~-1 ~1 minecraft:chain_command_block[conditional=false,facing=west]{Command:"/execute as @e[tag=rascal-body1] at @s unless entity @e[tag=rascal-brain,distance=..2] run kill @s",auto:1b,conditionMet:1b,powered:0b}'}, {id:command_block_minecart, Command: '/setblock ~2 ~0 ~2 minecraft:repeating_command_block[conditional=false,facing=east]{Command:"/execute as @e[type=item,nbt={Item:{id:\\"minecraft:egg\\"}}] at @s if entity @e[limit=1,distance=..1,type=item,nbt={Item:{id:\\"minecraft:cyan_dye\\"}}] run tag @s add rascal-spawnegg",auto:1b,conditionMet:1b,powered:0b}'}, {id:command_block_minecart, Command: '/setblock ~3 ~0 ~2 minecraft:chain_command_block[conditional=true,facing=east]{Command:"/execute as @e[tag=rascal-spawnegg] run data modify entity @s Item set value {id:\\"minecraft:glow_squid_spawn_egg\\", Count:1b, tag: {EntityTag:{id:armor_stand,Invisible:1b,Tags:[rascal-spawner]},display:{Name:\'[{\\"text\\":\\"Rascal Spawn Egg\\",\\"italic\\":false}]\'}}}",auto:1b,conditionMet:0b,powered:0b}'}, {id:command_block_minecart, Command: '/setblock ~4 ~0 ~2 minecraft:chain_command_block[conditional=true,facing=east]{Command:"/execute as @e[tag=rascal-spawnegg] at @s run particle minecraft:happy_villager ~ ~.3 ~ 0.1 0.1 0.1 1 10 normal",auto:1b,conditionMet:0b,powered:0b}'}, {id:command_block_minecart, Command: '/setblock ~5 ~0 ~2 minecraft:chain_command_block[conditional=true,facing=east]{Command:"/execute as @e[tag=rascal-spawnegg] at @s run kill @e[type=item,limit=1,distance=..1,nbt={Item:{id:\\"minecraft:cyan_dye\\"}}]",auto:1b,conditionMet:0b,powered:0b}'}, {id:command_block_minecart, Command: '/setblock ~6 ~0 ~2 minecraft:chain_command_block[conditional=true,facing=east]{Command:"/execute as @e[tag=rascal-spawnegg] at @s run tag @s remove rascal-spawnegg",auto:1b,conditionMet:0b,powered:0b}'}, {id:command_block_minecart, Command: '/setblock ~2 ~0 ~1 minecraft:repeating_command_block[conditional=false,facing=east]{Command:"/execute as @e[tag=rascal-spawner] at @s run summon minecraft:armor_stand ~ ~ ~ {NoGravity:1b,Rotation:[-90f],ArmorItems:[{},{},{},{id:player_head,tag:{SkullOwner:{Id:[I;-271375251,1327845785,-1801751048,-1368601223],Properties:{textures:[{Value:\\"e3RleHR1cmVzOntTS0lOOnt1cmw6Imh0dHA6Ly90ZXh0dXJlcy5taW5lY3JhZnQubmV0L3RleHR1cmUvNGMwZTU0ZWZiN2YyMmMwMDc4NjgxNmIyZTNmOGY2MjZiZTM1ODA2YWMyNDRhZGE0NTUwZjU5M2ZkYzJjMzBkMiJ9fX0=\\"}]}},},Count:1}],ArmorDropChances:[0f,0f,0f,0f],Invulnerable:1,Tags:[rascal-head,rascal-new],Small:1,Invisible:1}",auto:1b,conditionMet:1b,powered:0b}'}, {id:command_block_minecart, Command: '/setblock ~3 ~0 ~1 minecraft:chain_command_block[conditional=true,facing=east]{Command:"/execute as @e[tag=rascal-spawner] at @s run summon minecraft:armor_stand ~ ~ ~ {NoGravity:1b,ArmorItems:[{},{},{},{id:oxidized_copper,Count:1}],ArmorDropChances:[0f,0f,0f,0f],Invulnerable:1,Tags:[rascal-body1,rascal-new],Invisible:1}",auto:1b,conditionMet:0b,powered:0b}'}, {id:command_block_minecart, Command: '/setblock ~4 ~0 ~1 minecraft:chain_command_block[conditional=true,facing=east]{Command:"/execute as @e[tag=rascal-spawner] at @s run summon minecraft:armor_stand ~ ~ ~ {NoGravity:1b,ArmorItems:[{},{},{},{id:oxidized_copper,Count:1}],ArmorDropChances:[0f,0f,0f,0f],Invulnerable:1,Tags:[rascal-body2,rascal-new],Invisible:1}",auto:1b,conditionMet:0b,powered:0b}'}, {id:command_block_minecart, Command: '/setblock ~5 ~0 ~1 minecraft:chain_command_block[conditional=true,facing=east]{Command:"/execute as @e[tag=rascal-spawner] at @s run summon minecraft:armor_stand ~ ~ ~ {Rotation:[-90f],NoGravity:1b,ArmorItems:[{},{},{},{id:chest,Count:1}],ArmorDropChances:[0f,0f,0f,0f],Invulnerable:1,Tags:[rascal-backpack,rascal-new],Invisible:1}",auto:1b,conditionMet:0b,powered:0b}'}, {id:command_block_minecart, Command: '/setblock ~6 ~0 ~1 minecraft:chain_command_block[conditional=true,facing=east]{Command:"/execute as @e[tag=rascal-spawner] at @s run summon minecraft:ocelot ~ ~ ~ {CustomName:\'[{\\"text\\":\\"Rascal\\"}]\',Silent:1b,Tags:[rascal-brain,rascal-new],ActiveEffects:[{Id:14,Duration:999999,ShowParticles:0b}]}",auto:1b,conditionMet:0b,powered:0b}'}, {id:command_block_minecart, Command: '/setblock ~7 ~0 ~1 minecraft:chain_command_block[conditional=true,facing=east]{Command:"/execute as @e[tag=rascal-spawner] at @s run summon minecraft:armor_stand ~ ~ ~ {Invulnerable:1,NoGravity:1,Tags:[rascal-control,rascal-new],Invisible:1}",auto:1b,conditionMet:0b,powered:0b}'}, {id:command_block_minecart, Command: '/setblock ~8 ~0 ~1 minecraft:chain_command_block[conditional=true,facing=east]{Command:"/kill @e[tag=rascal-spawner]",auto:1b,conditionMet:0b,powered:0b}'}, {id:command_block_minecart, Command: 'setblock ~ ~1 ~ command_block{Command:"fill ~ ~ ~ ~ ~-3 ~ air",auto:1}'}, {id:command_block_minecart, Command: 'kill @e[type=command_block_minecart,distance=..1,tag=!debug]'}, ]}]}]}