Exodus 28:42-43
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42You shall make for them linen undergarments to cover their bare flesh; they shall reach from the waist even to the thighs. 43And they shall be on Aaron and on his sons when they enter the tent of meeting, or when they approach the altar to minister in the Holy Place, so that they do not incur guilt and die. It shall be a statute forever to him and to his descendants after him.