Albert Barnes Commentary Hebrews 2:16

"For verily not to angels doth he give help, but he giveth help to the seed of Abraham." — Hebrews 2:16 (ASV)

For verily. Truly. He took not on him the nature of angels. The marginal note reads: He taketh not hold of angels, but of the seed of Abraham he taketh hold. The word used here—epilambanetai—means to take hold of, to seize, to surprise, or to take hold with a view to detain for oneself.

Robinson notes that it then means to take hold of someone as by the hand—with a view to aid, conduct, or help (Mark 8:23; Acts 23:19). It is translated took (Mark 8:23; Luke 9:47; Luke 14:4; Acts 9:27; Acts 17:19; Acts 18:17; Acts 21:30, 33; Acts 23:19; Hebrews 8:9), caught (Matthew 14:31; Acts 16:19), take hold (Luke 20:20, 26), and lay hold or laid hold (Luke 23:26; 1 Timothy 6:12).

The general idea is that of seizing or laying hold of anyone—no matter what the object is—whether to aid, to drag to punishment, or simply to conduct. In this context, it means to lay hold with reference to aid or help. The meaning is that He did not seize the nature of angels, or take it to Himself, with reference to rendering them aid; instead, He assumed the nature of man in order to aid him. He undertook the work of human redemption, and consequently, it was necessary for Him to be a man.

But he took on him the seed of Abraham. He came to help the descendants of Abraham, and consequently, as they were men, He became a man. Writing to Jews, it was not unnatural for the apostle to refer particularly to them as the descendants of Abraham, though this does not exclude the idea that He died for the whole human race. It was true that He came to render aid to the descendants of Abraham, but it was also true that He died for all. The fact that I love one of my children, and that I make provision for his education and tell him so, does not exclude the idea that I love the others also, and that I may make a similar appeal to them when it is proper.