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I shall be sanctified among the children of Israel (22:32)
It was resolved in the upper chambers of the house of Nithza in Lod: Regarding every law of the Torah, if a man is threatened, "Transgress, lest you be killed," he may transgress to avoid being killed... as it is written (Leviticus 18:5), "[Keep My statutes and My laws, which man should do and] live by them" — not die by them... except for idolatry, arayot (incest and adultery), and murder [for which a person must give up his life rather than transgress]...
When Rav Dimi came, he said: This applies only if there is no tyrant's decree [whose purpose is to uproot the Jewish faith]; but if there is a tyrant's decree, one must incur martyrdom rather than transgress even a minor precept. When Ravin came, he said in Rabbi Yochanan's name: Even without a tyrant's decree, it was only permitted in private; but in public one must be martyred even for a minor precept rather than violate it. What is meant by a "minor precept"? Rabbah the son of Rav Yitzchak said in Rav's name: Even to change one's shoe strap (from Jewish to Gentile custom).
(Talmud, Sanhedrin 74a)
https://www.chabad.org/parshah/in-depth/default_cdo/aid/742790/jewish/Commentary-Sukkot.htm
After the death of the two sons of Aaron who came close to G‑d and died (Leviticus 16:1)
They approached the supernal light out of their great love of the Holy, and thereby died. Thus they died by a "divine kiss" such as experienced by the perfectly righteous; it is only that the righteous die when the divine kiss approaches them, while they died by their approaching it. . . . Although they sensed their own demise, this did not prevent them from drawing near to G‑d in attachment, delight, delectability, fellowship, love, kissing and sweetness, to the point that their souls ceased from them.
(Ohr HaChaim)
https://w2.chabad.org/media/pdf/133843.pdf
Yom Kippur is the holiest day of the year -- the day on which we are closest to G-d and to the quintessential core of our own souls. It is the "Day of Atonement" -- "For on this day He will forgive you, to purify you, that you be cleansed from all your sins before G-d" (Leviticus 16:30).
For twenty-six hours, from several minutes before sunset on Tishrei 9 to after nightfall on Tishrei 10, we "afflict our souls": we abstain from food and drink, do not wash or anoint our bodies, do not wear leather shoes, and abstain from marital relations.
When the Holy Temple stood in Jerusalem, the Yom Kippur service included the High Priest's entry into the "Holy of Holies" to offer the ketoret -- the only time that anyone entered the Temple's innermost chamber -- and the "casting of lots" over two goats, one to be offered to G-d and the other to carry off the sins of Israel to the wilderness. Today, we spend the day in the synagogue garbed in a white garment called a kittel to resemble the sin-free angels and to waken thoughts of repentance by reminding us of the day of our death. In the course of the day we hold five prayer services: Maariv, with its solemn Kol Nidrei service, on the eve of Yom Kippur; Shacharit; Musaf, which includes a detailed account of the Temple service; Minchah, which includes the reading of the Book of Jonah; and Ne'illah, the "closing of the gates" service at sunset. We say the Al Chet confession of sins ten times, and recite Psalms every available moment.
The day is the most solemn of the year, yet an undertone of joy suffuses it: a joy that revels in the spirituality of the day and expresses the confidence that G-d will accept our repentance, forgive our sins, and seal our verdict for a year of life, health and happiness. When the closing Ne'illah service climaxes in the resounding cries of "Hear O Israel... G-d is one" and a single blast of the shofar, the joy erupts in song and dance (a Chabad custom is to sing the lively niggun known as "Napoleon's March"), followed by the festive after-fast meal, making the evening following Yom Kippur a Yom Tov (festival) in its own right.
See also: More Yom Kippur laws & customs; an overview of the Yom Kippur services
About Yom Kippur (from JewishNewYear.com)
Yizkor, the remembrance prayer for departed parents, is recited today after the morning reading of the Torah.
Links:
The Yizkor Prayer
Honor Due to Parents
On Breavement and Mourning
Moses went . . . to all of Israel (31:1)
But the Torah doesn't tell us where Moses went on this last day of his earthly life. The chassidic masters say: Moses entered into the core of every Jew of every generation, so that every Jewish soul possesess a spark of the soul of Moses.
(Maayanah Shel Torah)
I am one hundred and twenty years old today (31:2)
Today my days and years were fulfilled; on this day I was born, and on this day I shall die. . . . This is to teach us that G‑d fulfills the years of the righteous to the day and to the month, as it is written (Exodus 23:26): "I shall fulfill the number of your days."
(Talmud, Rosh Hashanah 11a)