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Was it upon legal or evangelical grounds?
Yes, and preferably from a Biblical Theology perspective. How did they receive the commands to obey? I frequently hear "the Jews tried to earn their salvation" and I don't necessarily think that's true.
According to the Apostle Paul, the statement you heard was true at least for many. Paul writes that "Israel who pursued a law that would lead to righteousness did not succeed in reaching that law.Why? Because they did not pursue it by faith, but as if it were based on works. They have stumbled over the stumbling stone." (Rom. 9:31,32)
Some preparations for the promulgation of the Decalogue should be read together with this chapter, Ex. 19. It should be noticed, that here the berith appears for the first time as a two-sided arrangement, although that is by no means the reason of its being called a berith. The reason lies entirely in the ceremony of ratification. As to the arrangement itself, great emphasis is placed on the voluntary acceptance of the berith by the people. It is true, the initiative in designing the terms is strictly vindicated for Jehovah. No parleying, no co-operation between God and man in determining the nature and content are from the standpoint of the narrative conceivable. It is Jehovah's covenant exclusively in that respect. Still, the berith is placed before the people, and their assent is required.