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Lit., "have asked it": a reference to the injunction laid down in verses {27-28} above. My interpolation, between brackets, of the phrase "who have reached maturity" is based on Zamakhshari's interpretation of the words "those before them".
Children among you: i.e., in your house, not necessarily your own children. All in the house, including the stranger within your gate, must conform to these wholesome rules.
Those before them, i.e., those who have already been mentioned in the previous verse. It is suggested that each generation as it grows up should follow the wholesome traditions of its predecessors. While they were children, they behaved like children: when they grow up, they must behave like grown-ups.
The refrain connects up this verse with the last verse, whose meaning is completed here. The slight variation ("His Signs" here, against "the Signs" there) shows that this verse is more personal, as referring to children who have now become responsible men and women.