23:20
We now move on to a different theme, the conquest of Canaan. First of all, God promises to send an angel before them to protect them, and to bring them to a place that He has prepared for them. The journey would entail difficulties and dangers, but God would protect them. If we look ahead and are looking for a completely “safe” route we will be disappointed, for no such route exists. Our security lies in God protecting us. God’s promise here to bring them to a place that He has prepared for them reminds us of Jesus’ words to His disciples in John 14:2.
23:21
The word translated “angel” in 23:20 maybe better translated “messenger” (see Cole) . This is what the Hebrew actually says. Sometimes it can mean “angel”, but could refer to a human “messenger”, in this case Moses and Joshua. The instruction here to pay close attention to the messenger would seem to make more sense if the messenger is Moses or Joshua. The people did rebel against Moses on occasion and they were duly punished. “My Name is in him” could be taken to imply that the messenger was an angel, but I am not convinced. Moses spoke with the authority of God. Moses and Joshua were not just any old leaders, but were chosen by God, and spoken to by God.
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