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And Moses stripped Aaron of his garments, and put them upon Eleazar his son; and Aaron died there in the top of the mount: and Moses and Eleazar came down from the mount.

New Defender's Study Bible Notes

20:28 Aaron died there. The death of Aaron essentially marked the end of the forty years of wanderings (see Numbers 33:38). Although it is not mentioned, this means that all the other men who had been more than twenty years old when the ten spies brought back their evil report were now dead (Numbers 14:26-35). Thus it was time to resume the planned conquest of Canaan.

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