The following is a brief summary of some of thoughts said over by R' Frand on the parsha this evening. I have attempted to reproduce these vorts to the best of my ability. Any perceived inconsistency is the result of my efforts to transcribe the shiur and should not be attributed to R' Frand.
R' Frand noted that the Behag and the Gemara in Sotah calls Sefer Bamidbar - Chumash HaPikudim and in English its called the Book of Numbers. Why? Because the Sefer begins with a count of the Jews and in Parshas Pinchas at the end there is another count.
But if you asked the average person, what is the theme of the Sefer, you would not get a response that its about counting. People might mention the various troubles that befell the Jews or the challenges to Moshe. They might call it the Book of Troubles or Challenges, but why the Book of Numbers?
R' Frand quoted the Netziv in his preface to Sefer Bamidbar (as developed by R' Immanuel Bernstein) who states that the counting is fundamental to the entire Sefer Bamidbar. He begins by quoting a Medrash in Sefer Bereishis which states that each of the five Chumashim or hinted to in Sefer Bereishis. The pasuk which defines Sefer Bamidbar is Bereishis 1:4 wherein the Torah states וַיַּבְדֵּ֣ל אֱלֹהִ֔ים בֵּ֥ין הָא֖וֹר וּבֵ֥ין הַחֽשֶׁךְ.
Why does this define Sefer Bamidbar? Because Torah is Ohr (light) and in Sefer Bamidbar, Hashem separated between light and darkness. When the Jews started their journey in the Sefer, the miracles were open and obvious - they had the Manna and the Clouds of Glory - Hashem's presence was as clear as the light of day. But at the end of the Sefer the Jews returned to normal life.
The first census in Parshas Bamidbar they were in the period of light and open miracles. But when counted Parshas Pinchas at the end, the Jews were living a normal life. This can be seen even in the way that the Jews were counted as in Parshas Bamidbar, the Jews were counted as part of their formation as they marched in the desert as they escorted the Shechina. But in Parshas Pinchas they were simply counted by number as they were worried about their own protection, fought battles and had to worry about food and water. And the line of demarcation is Parshas Chukas.
The Netziv also observes that the order of counting Ephraim and Menashe were reversed. In Parshas Bamidbar, Ephraim is counted first as he was more spiritual. But in Parshas Pinchas, Menashe is counted first because they needed to get on with normal life.
The Netziv also opined that the Jews troubles in Sefer Bamdibar came from being impetuous - acting in a way that they believed that they were ready to move on and Hashem knew that it was not yet time. The Meraglim only became an issue because the Jews were raring to enter the land of Israel and felt that they needed intelligence.
R' Frand said a second vort on the name of the Nasi for Gad who in the beginning is called אֶלְיָסָ֖ף בֶּן־דְּעוּאֵֽל but later in Bamidbar 2:14 is called אֶלְיָסָ֖ף בֶּן־רְעוּאֵֽל. Why the name change?
R' Frand quoted the Chida who cites the Sefer Imrei Noam which notes that the four leading tribes for the marching in the desert were Yehuda, Reuven, Menashe and Dan. That Yehuda was a leader was due to the Melucha coming from him. Meanwhile, Reuven was the first born of Leah and Menashe was for Rachel (through Yosef). But Elyasaf as the prince of Gad could have complained since Dan was the first born of Bilha and Gad was the first born of Zilpah - why should Dan have that role instead of Gad?
But he did not complain and in so doing he went from someone who "knew" Hashem to someone who is a "friend" of Hashem, because not complaining and questioning Hashem is a way to be even closer ot Hashem.
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