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It seems that the comments, above, explain the meaning of the two words. Looking at the roots - "Mitzvah" comes from "tzavah" (zvh) meaning "to command". The Torah has mitzvot - commandments, because it states "Do (or don't do) this". rarely does it explain HOW to do or not do something. (Technically, mitzvot lo ta'aseh are "easier" b/c you just don't do ...

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