When the Hebrews came out of Egypt, they were freed from slavery, but they still had the spirit of slavery in them.
That is why the first generation could not possess their birthright because slaves do not have a birthright.
The book of Numbers is a fantastic manual showing how God took an entire nation and grew them from a spirit of slavery to walking in some degree of sonship in a single generation.
The step by step sequence He followed still works today, whether we are facing the slavery mindsets in our own journey, or in those we are seeking to mentor.
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