In this shiur, delivered in Tomer Devorah, Rav Burg explains why Hashem wanted Klal Yisrael to avoid the Pelishtim as they left Mitzrayim, why the first Mitzvah Klal Yisrael received was freeing slaves and why on the precipice of entering Eretz Yisrael, Moshe Rabbeinu reminds Klal Yisrael of the fears they experienced when they left Mitzrayim. To be a slave in Mitzrayim means to lose all sense of dignity and agency over one's life. The process of taking Klal Yisrael out of Mitzrayim is restoring their dignity and giving them a sense of responsibility for their lives.