Leaving Rephidim and Reaching Sinai Both in Repentance

Yalkut Shimoni on Torah 275:1

"They journeyed from Rephidim and came to the wilderness of Sinai" (Exodus 19:2). But has it not already been said, "On this day they came to the wilderness of Sinai"? Rather, Scripture compares their journeying from Rephidim to their coming to the wilderness of Sinai: just as their coming to the wilderness of Sinai was in repentance, so too their journeying from Rephidim was in repentance.

Themes