v1: The previous genealogy, in 26.9-10, listed the genealogy of Dathan and Abiram, the leaders of the rebellion. Here the list is of a family seeking God's fairness and grace.
v2-4: The problem, where Zelophehad left daughters, but had no sons.
v7: The Lord did not despise the claim of Zelophehad's daughters. He said that they should have an inheritance in the land.
v8-11: The laws of inheritance, reflecting God's heart, were that a daughter would inherit before a brother.
v12-14: Moses' rebellion at Meribah had meant that he could not enter the promised land. But God had planned that he should see it. If we cannot lead God's people into great blessing, we can at least prepare them for it.
v15-17: Moses' prayer and concern for the people. The necessity was for a new leader. Without such a man, the people would be like sheep without a shepherd; this phrase used in 1 Kings 22.17; and Mark 6.34.
v18: Joshua was the man already chosen. God had set him apart, and had given him the Spirit of God.
v19: Moses' responsibility was to publicly acknowledge Joshua as the leader.
v20: The leader had to encourage obedience; he therefore had to have authority. It was necessary that all the people obey him. In this way he pictures the Lord Jesus Christ, whom all who are Christians are obliged to obey.
v21: Joshua was just a man, and needed to seek God's mind. Eleazar, the priest, was therefore to assist him. Once God's mind was revealed, the people simply had to obey, going out and coming in. The Lord Jesus used similar words in John 10.9. He is present with His people by His Spirit.
v22-23: The appointing of Joshua was before all the people. No one would have any doubt who was the right leader. The issue of leadership had become an area of dispute (ch 12; 16), so it was important that the issue be made clear. Once a man is set apart as God's choice, the people must show proper respect.