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God's command leads to joy because God's command leads us to him through Jesus. This message was given by Pastor Steve DeWitt as the conclusion to the 10 Commandments series.
34 But when the Pharisees heard that he had silenced the Sadducees, they gathered together. 35 And one of them, a lawyer, asked him a question to test him. 36 "Teacher, which is the great commandment in the Law?" 37 And he said to him, "You shall love the Lord your God with all your heart and with all your soul and with all your mind. 38 This is the great and first commandment. 39 And a second is like it: You shall love your neighbor as yourself. 40 On these two commandments depend all the Law and the Prophets." Matthew 22:34 — Matthew 22:40 ESV