Aliya Summary: G‑d informed the Israelites that He would dispatch an angel to lead them into Canaan. This angel would not tolerate disobedience. If, however, the Israelites would hearken to the angel, and eradicate idolatry from the Promised Land, then they will be greatly rewarded. Their Canaanite enemies will fall before them and G‑d “will bless your food and your drink, and will remove illness from your midst.”
The Passuk describing the angel sent to lead the Israelites into Canaan is generic enough that it could be referring to anyone, at any time (read 23:20). If so, the Passuk is saying that there is always an angel helping to guide us to where we need to go.