Chapter 19, page 44. There are three levels of ritual observance. Before the Torah, when the Avos were not commanded, but did mitzvos. After the Torah, when we are commanded and do mitzvos. Both The Great Future, when there is a full connection to and understanding of mitzvos. The difference between the first two and the third is our understanding of the quality of mitzvos. In this world, we lose our minds trying to figure out the logic behind the mitzvos. In the future, we will have a true connection to the mitzvos.
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