To explain again as briefly as possible: the Israelites could be saying "teach us" because they seek God, seek to repent, despite their feeling that they will be unable to do so without God's help. This fits in with the general idea that "contesting with God" has a positive as well as a negative form (the contextual theme). The other reason they say "us" is because they recognize that the "he" or "it" that is the Evil Inclination is itself an aspect of themselves (of all of US). --Does this not at least make sense, even if it is wrong?
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