Bible Notes Online - Genesis 35 - ESV
Commentary

v1-4: The day of Jacob's distress, 34.30, but the Lord speaks again to him.

First, his people have to put away all their foreign gods; this was the influence of Laban and Rachel; we cannot expect God to bless while we cherish sins.

The altar, where the family can worship together, declaring their allegiance to God. Previous altars represented Jacob's personal communion with God; at Bethel/Luz (28.10-22), at Galeed/Mizpah (31.43-53), and at Shechem /El Elohe Israel (33.40).

v5: Jacob feared that the surrounding peoples would seek revenge following Simeon's and Levi's attack on Shechem, but instead they are afraid of him.

v6-7: Jacob returns to Bethel, and now his whole household worship together. The promise has been fulfilled, "I will bring you back to this land" (28.15).

v8: A delightful, homely, detail, as Deborah, Rachel's nurse dies and is buried. Here is real family life, as all share the sorrow of losing someone dear.

v9-13: The Lord appears to Jacob, reminding him of the promises; his name, his people, and his land.

v14-15: Again, Jacob leaves testimony of his communion with God.

v16-20: Rachel dies while giving birth to Benjamin.

v21-22: Reuben, unstable as water, lies with Bilhah. Jacob hears about this, and Reuben has to bear the consequences of his sins, see 49.4, losing the blessing of the first born.

v23-26: The birth of Benjamin completes Jacob's family, and so the writer lists the twelve, noting their mothers' names.

v27-29: The death of Isaac, 180 years old, buried by Jacob and Esau. This is actually dated some years after Jacob's return to Canaan. Joseph has already been taken into Egypt, and will not see his father for another ten years; and Joseph did not know of Benjamin at all.