Rabbinic Aristocracy or Nepotism (Part One)

How do you choose a successor? Why was Moshe upset that one of his children wasn't chosen as his successor? Why did Moshe assume that one of his children would succeed him and why weren't they? What does it tell us about the nature of leadership?

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Delivered at the OU Israel Center, May 10, 2018/25 Iyyar 5778