John Gill Commentary Deuteronomy 33:10

"They shall teach Jacob thine ordinances, And Israel thy law: They shall put incense before thee, And whole burnt-offering upon thine altar." — Deuteronomy 33:10 (ASV)

They shall teach Jacob your statutes, and Israel your law
The priests and Levites, being dispersed among each of the tribes, having cities in them allotted to them, taught the people the laws, statutes, and ordinances of the Lord, moral, civil, and ceremonial, see (Malachi 2:6Malachi 2:7) ;

they shall put incense before you ;
upon the altar of incense, which none but a priest might do, as the case of Uzziah shows; and which, the Jews say ^F11 , he might do but once.

The same priest might not offer incense twice; a new priest was always employed: in this they were typical of Christ, the only Intercessor who is always at the golden altar, to offer up the prayers of all saints with his much incense, (Revelation 8:3Revelation 8:4) ;

and whole burnt offerings upon your altar ;
the altar of burnt offering, typical of Christ, who is both altar, sacrifice, and priest.

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FOOTNOTES:

• F11: T. Bab. Yoma, fol. 26. 1.