Psalms 99:5-8

Verse 5

Worship at his footstool - Probably meaning the ark on which the Divine glory was manifested. Sometimes the earth is called God's footstool, Mat 5:35; Isa 66:1; sometimes Jerusalem; sometimes the temple, Lam 2:1; sometimes the tabernacle, Psa 32:7; and sometimes the ark, 1Chr 28:2. The Israelites, when they worshipped, turned their faces toward the ark, because that was the place where was the symbol of the Divine Presence.

For he is holy - The burden chanted by the chorus.
Verse 6

Moses and Aaron - As Moses and Aaron among the priests, and as Samuel among the prophets, worshipped God in humility, gratitude, and the spirit of obedience, and received the strongest tokens of the Divine favor; so worship ye the Lord, that he may bless, support, and save you. Moses was properly the priest of the Hebrews before Aaron and his family were appointed to that office.
Verse 7

He spake unto them in the cloudy pillar - That is, he directed all their operations, marchings, and encampments by this cloudy pillar. See Exo 33:9.

They kept his testimonies - Do ye the same, and God will be your portion as he was theirs.
Verse 8

Thou - forgavest them - When the people had sinned, and wrath was about to descend on them, Moses and Aaron interceded for them, and they were not destroyed.

Tookest vengeance of their inventions - God spared them, but showed his displeasure at their misdoings. He chastised, but did not consume them. This is amply proved in the history of this people.
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