The Children of Israel shall encamp, each man at his division, according to the banner of their fathers' house...
The Midrash (במדב"ר ב' ה') expounds on a Passuk in Shir Hashirim, and calls attention to these banners, under which the Jews encamped while traveling in the desert.
איומה כנדגלות. ובמה אתם כנדגלות, בדגלים שנתתי לכם. ודוד רואה ואומר, לא עשה כן לכל גוי אלא לעמו. הה"ד איש על דגלו וגו'.
[The Midrash understands the word כנדגלות in this Passuk to mean 'like angels who are arranged by banners'.] King Shlomo states that Hashem praises the Jewish People as follows. "You Israel are awe inspiring as an army with banners. And in what way are you as an army with banners? Through the banners that I gave you". David Hamelech in his prophetic vision saw this arrangement of banners that Hashem gave the Jews, and he said, "He did not do so for any other nation, but only for His People".
This Midrash is hard to understand, for the Passuk that the Midrash brings as referring to the banners says as follows;
מגיד דבריו ליעקב, חקיו ומשפטיו לישראל. לא עשה כן לכל גוי, ומשפטים בל ידעום וכו'.
He relates His words to Yaakov, His laws and His commandments to Yisroel. He did not do so for any other nation; such commandments He did not relate to them. Accordingly, in the context of this Passuk, it would clearly seem that Dovid is discussing the laws and commandments that Hashem taught the Jews, but did not teach the other Nations. Thus, where does the Midrash see in this Passuk that it is referring to the rules governing the banners under which the Jewish people camped while traveling in the desert? Furthermore, even if we were to say that Dovid wasn't necessarily referring to the general laws and commandments, nevertheless we can still understand him to be referring to some other advantage which the Jews had over the other nations; i.e. the presence of Hashem's shechinah in their midst, the Torah that only the Jews merited to receive at Har Sinai, or the Holy Bais Hamikdash.
The Midrash (במדב"ר ב' ג') tells us,
בשעה שנגלה הקב"ה על הר סיני, ירדו עמו כ"ב רבבות של מלאכים שנאמר רכב אלהים רבותים אלפי שנאן, והיו כולם עשוים דגלים דגלים וכו' כיון שראו אותן ישראל שהם עשוים דגלים דגלים, התחילו מתאוים לדגלים, אמרו אלואי כך אנו נעשים דגלים כמותן וכו'. אמר להם הקב"ה מה נתאויתם לעשות דגלים, חייכם שאני ממלא משאלותיכם וכו'. מיד הודיע הקב"ה אותם לישראל, ואמר למשה, לך עשה אותם דגלים כמו שנתאוו.
When Hashem revealed Himself at Har Sinai, 220,000 angels descended with Him, as it states, 'Hashem's entourage is twice ten thousand, thousands of angels, Hashem is among them at Sinai...', and all these angels were arranged in orderly camps, banner by banner. When the Jews saw that the angels were arranged banner by banner, they, too, began to desire to be arranged by banners. They said, "If only we too would be arranged according to banners surrounding the Divine Presence, just like the angels!" Hashem said to the Jewish People, "What do you desire? To be arranged according to banners? I swear that I will fulfill your request". Thereupon, Hashem made known His love for the Jewish People and said to Moshe, "Go and arrange them into banners around the Mishkan, as they desire".
Accordingly, we can understand where the Passuk indicates that Dovid Hamelech was referring to the banners which only the Jewish Nation merited to. For when Dovid said,
לא עשה כן לכל גוי ומשפטים בל ידעום
He did not do so for any other nation; such judgements He did not relate to them, it implies that the reason that 'He did not do so for any other nation', was because 'such judgements He did not relate to them'. This alludes to - something that Hashem 'did for the Jewish People' because 'His judgments He did relate to them' - the bannered camps that the Jewish People yearned for at the time of their receiving the Torah, when they saw the angels descending in bannered camps. It was then and there that Hashem swore to the Jewish People that they will merit those banners as well, while the other nations who hadn't accepted the Torah did not merit these banners.
זרע שמשון פרשתנו אות א
Zera Shimshon - the Limud that brings Yeshuos
