Definition and origin of the division between interpersonal and God-related Mitzvot

Question

"...for transgressions between a person and God, Yom Kippur atones; however, for transgressions between a person and another, Yom Kippur does not atone until he appeases the other person." Mishnah_Yoma.8.9

IIRC the Torah does not make any distinction between Mitzvot.

• What is the origin of the division between interpersonal (בין אדם לחבירו) and God-related (בין אדם למקום) Mitzvot?
• What are the criteria for the division?
• Did anybody attempt to systematically classify the 613 Mitzvot by those criteria?

Please assume the question is not self-evident, for example, murder, physically hurting others, honoring parents, Tzedakka, etc.

Answer 1

I don't know the first source that explicitly makes that distinction, but generally speaking the first place where that distinction is noted in the commentaries is the two luchos containing the Ten Commandments. The first tablet has five commandments that are between man and G-d, and the second has five commandments that are between man and his fellow man. (Honoring one's parents is considered a commandment between man and G-d because the parents are partners with G-d in creating the person.)

It is important to note that a law that is בין אדם לחבירו is also בין אדם למקום, because it is G-d's commandment. As the Gemara in Yoma says, a violation of interpersonal laws needs forgiveness from both the offended party and G-d.

There is a kuntres by the Mabit called Iggeres Derech Hashem that divides the mitzvos between those two categories. It was published with a commentary Derech Moshe. I received a copy as a gift, so I don't know where it is available, if it is.

Answer 2

Yeshayahu (ch 1) seems to differentiate between the two, excoriating Israel for focusing on "bein adam lamakom" while neglecting "bein adam lichaveiro"

(י) שִׁמְעוּ דְבַר יְהֹוָה קְצִינֵי סְדֹם הַאֲזִינוּ תּוֹרַת אֱלֹהֵינוּ עַם עֲמֹרָה. (יא) לָמָּה לִּי רֹב זִבְחֵיכֶם יֹאמַר יְהֹוָה שָׂבַעְתִּי עֹלוֹת אֵילִים וְחֵלֶב מְרִיאִים וְדַם פָּרִים וּכְבָשִׂים וְעַתּוּדִים לֹא חָפָצְתִּי. (יב) כִּי תָבֹאוּ לֵרָאוֹת פָּנָי מִי בִקֵּשׁ זֹאת מִיֶּדְכֶם רְמֹס חֲצֵרָי. (יג) לֹא תוֹסִיפוּ הָבִיא מִנְחַת שָׁוְא קְטֹרֶת תּוֹעֵבָה הִיא לִי חֹדֶשׁ וְשַׁבָּת קְרֹא מִקְרָא לֹא אוּכַל אָוֶן וַעֲצָרָה. (יד) חׇדְשֵׁיכֶם וּמוֹעֲדֵיכֶם שָׂנְאָה נַפְשִׁי הָיוּ עָלַי לָטֹרַח נִלְאֵיתִי נְשֹׂא. (טו) וּבְפָרִשְׂכֶם כַּפֵּיכֶם אַעְלִים עֵינַי מִכֶּם גַּם כִּי תַרְבּוּ תְפִלָּה אֵינֶנִּי שֹׁמֵעַ יְדֵיכֶם דָּמִים מָלֵאוּ. (טז) רַחֲצוּ הִזַּכּוּ הָסִירוּ רֹעַ מַעַלְלֵיכֶם מִנֶּגֶד עֵינָי חִדְלוּ הָרֵעַ. (יז) לִמְדוּ הֵיטֵב דִּרְשׁוּ מִשְׁפָּט אַשְּׁרוּ חָמוֹץ שִׁפְטוּ יָתוֹם רִיבוּ אַלְמָנָה.

(10) Hear the word of Hashem, you rulers of Sodom. Give ear to the law of our God, you people of Gomorrah. (11) "To what purpose is the multitude of your sacrifices to Me," says Hashem. "I am full of the burnt-offerings of rams and the fat of fed beasts. And I do not delight in the blood of bullocks, or of lambs, or of he-goats. (12) When you come to appear before Me, who has requested this of your hand, to trample My courts? (13) Bring no more vain oblations; it is an offering of abomination to Me. New moon and Sabbath, the holding of convocations – I cannot endure iniquity along with the solemn assembly. (14) Your new moons and your appointed seasons, my soul hates. They are a burden to Me; I am weary to bear them. (15) And when you spread forth your hands, I will hide My eyes from you. Even if you make many prayers, I will not hear; your hands are full of blood. (16) Wash yourselves, cleanse yourselves, put away the evil of your doings from before My eyes. Cease to do evil. (17) Learn to do well. Seek justice, relieve the oppressed, judge the fatherless, plead for the widow."