It was not God’s intention that His people would endeavor in their own strength to keep the Ten Commandments. Rather, His intention was to command His people to enjoy Him — to feast with Him and rest with Him. This is contrary to our natural desire to always want to do something for God (cf. Luke 15:18-32 and note Luke 15:192). The keeping of God’s commandments must be secondary; it must be the issue of feasting with the Lord and resting with Him (see note Gen. 2:171a, par. 1).
For the significance of the three annual feasts mentioned in vv. 18 and vv. 22-23, see note on Exo. 23:14-16 and on Lev. 23.