Verse 17 is reminiscent of Joseph's words to his brothers (Genesis 50:19,20). God worked through the situation for good. However, a response was still demanded from the people, they need to repent. We need to repent in order for our sins to be wiped out, and for times of refreshing to come. While we stubbornly refuse to repent we carry a heavy burden that weighs us down, but if we repent and turn to God then the burden is lifted and life comes in instead.
Peter quotes from Moses (Deut 18:15, 18, 19), seeing Jesus as the one whom Moses had said would come. The Old Testament is looking forward to one who would bring about fulfilment of God's plans, and Jesus is that one.
Far from rejecting their Jewish heritage, in accepting Jesus they would be fulfilling it.
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