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"Does Moses Contradict G-d?"

In parashat Shemot, Moses seems to disagree with, indeed contradict, G-d. Despite G-d's explicit statement that, "They shall harken to thy voice," Moses responds that "They will not believe me, nor harken to my voice." Our rabbis struggle over whether Moses spoke to G-d unbefittingly, or whether G-d and Moses were simply referring to different issues when they each spoke.