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So he let him go - i. e. God withdrew His visitation from Moses.

Moses sent Zipporah and her children back to Jethro before he went to Egypt, Exodus 18:2. The journey would have been delayed had he waited for the healing of the child.

The divine command given to Moses found him self-distrustful, slow of speech, and timid. He was overwhelmed with a sense of his incapacity to be a mouthpiece for God to Israel. But having once accepted the work, he entered upon it with his whole heart, putting all his trust in the Lord. The greatness of his mission called into exercise the best powers of his mind. God blessed his ready obedience, and he became eloquent, hopeful, self-possessed, and well fitted for the greatest work ever given to man. This is an example of what God does to strengthen the character of those who trust Him fully and give themselves unreservedly to His commands. PP 255.1

A man will gain power and efficiency as he accepts the responsibilities that God places upon him, and with his whole soul seeks to qualify himself to bear them aright. However humble his position or limited his ability, that man will attain true greatness who, trusting to divine strength, seeks to perform his work with fidelity. Had Moses relied upon his own strength and wisdom, and eagerly accepted the great charge, he would have evinced his entire unfitness for such a work. The fact that a man feels his weakness is at least some evidence that he realizes the magnitude of the work appointed him, and that he will make God his counselor and his strength. PP 255.2

Moses returned to his father-in-law and expressed his desire to visit his brethren in Egypt. Jethro's consent was given, with his blessing, “Go in peace.” With his wife and children, Moses set forth on the journey. He had not dared to make known the object of his mission, lest they should not be allowed to accompany him. Before reaching Egypt, however, he himself thought it best for their own safety to send them back to the home in Midian. PP 255.3

A secret dread of Pharaoh and the Egyptians, whose anger had been kindled against him forty years before, had rendered Moses still more reluctant to return to Egypt; but after he had set out to obey the divine command, the Lord revealed to him that his enemies were dead. PP 255.4

On the way from Midian, Moses received a startling and terrible warning of the Lord's displeasure. An angel appeared to him in a threatening manner, as if he would immediately destroy him. No explanation was given; but Moses remembered that he had disregarded one of God's requirements; yielding to the persuasion of his wife, he had neglected to perform the rite of circumcision upon their youngest son. He had failed to comply with the condition by which his child could be entitled to the blessings of God's covenant with Israel; and such a neglect on the part of their chosen leader could not but lessen the force of the divine precepts upon the people. Zipporah, fearing that her husband would be slain, performed the rite herself, and the angel then permitted Moses to pursue his journey. In his mission to Pharaoh, Moses was to be placed in a position of great peril; his life could be preserved only through the protection of holy angels. But while living in neglect of a known duty, he would not be secure; for he could not be shielded by the angels of God. PP 255.5

The Lord directed Moses to say unto Pharaoh, “Thus saith the Lord, Israel is my son, even my first-born. And I say unto thee, Let my son go, that he may serve me. And if thou refuse to let him go, behold, I will slay thy son, even thy first-born.” The Lord called Israel his first-born, because he had singled them out from all people to be the depositaries of his law, the obedience of which would preserve them pure amidst idolatrous nations. He conferred upon them special privileges, such as were generally conferred upon the first-born son. 3SG 195.1

As Moses journeyed to Egypt, the angel of the Lord met him and assumed a threatening posture, as though he would slay him. He was fearful of his life. He had yielded to the refusal of his wife to have their son circumcised, and, in compliance with her wishes, had neglected to obey God. His wife, fearful that her husband might be slain, overcame her feelings of undue affection for her son, and performed the act herself. After this, the angel let Moses go. In his mission to Pharaoh, he was to be placed in a perilous position, where his life would be exposed to the will of the king, if God did not by his power, through the presence of his angels, preserve him. While Moses was living in neglect of one of God's positive commands, his life would not be secure, for God's angels could not protect him while in disobedience. Therefore, the angel met him in the way and threatened his life. He did not explain to Moses why he assumed that threatening aspect. Moses knew that there was a cause. He was going to Egypt according to God's express command, therefore the journey was right. He at once remembered that he had not obeyed God in performing the ordinance of circumcision upon his youngest son, and had yielded to his wife's entreaties to postpone the ceremony. After he had obeyed the command of God he was free to go before Pharaoh, and there was nothing in the way to hinder the ministration of angels in connection with his work. 3SG 195.2