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Numbers 27:21
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19 set him before Eleazar the priest and before all the congregation, and ainaugurate him in their sight.  
20 And ayou shall give some of your authority to him, that all the congregation of the children of Israel bmay be obedient.  
21 aHe shall stand before Eleazar the priest, who shall inquire before the Lord for him bby the judgment of the Urim. cAt his word they shall go out, and at his word they shall come in, he and all the children of Israel with him—all the congregation.”  
22 So Moses did as the Lord commanded him. He took Joshua and set him before Eleazar the priest and before all the congregation.
23 And he laid his hands on him aand inaugurated him, just as the Lord commanded by the hand of Moses. 
Book Notes:
Jamieson, Fausset, and Brown Book Notes

Numbers

NUMBERS. This book is so called because it contains an account of the enumeration and arrangement of the Israelites. The early part of it, from the first through the tenth chapters, appears to be a supplement to Leviticus, being occupied with relating the appointment of the Levites to the sacred offices. The journal of the march through the wilderness is then given as far as Numbers 21:20; after which the early incidents of the invasion are narrated. One direct quotation only from this book (Numbers 16:5) is made in the New Testament (II Timothy 2:19); but indirect references to it by the later sacred writers are very numerous.

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