Let $Δ=Δ_1\times\ldots\times Δ_d\subseteq\mathbb{R}^n$, where $\mathbb{R}^n=\mathbb{R}^{n_1}\times\cdots\times\mathbb{R}^{n_d}$ with each $Δ_i\subseteq\mathbb{R}^{n_i}$ a non-degenerate simplex of $n_i$ points. We prove that any set $S\subseteq \mathbb{R}^n$, with $n=n_1+\cdots +n_d$ of positive upper Banach density necessarily contains an isometric copy of all sufficiently large dilates of the configuration $Δ$. In particular any such set $S\subseteq \mathbb{R}^{2d}$ contains a $d$-dimensional cube of side length $λ$, for all $λ\geq λ_0(S)$. We also prove analogous results with the underlying space being the integer lattice. The proof is based on a weak hypergraph regularity lemma and an associated counting lemma developed in the context of Euclidean spaces and the integer lattice.