10:16a So they put away the foreign gods from among them and served the LORD,

Then they destroyed all their foreign gods. They began to serve Yahweh again.
-or-
Then the Israelites threw away the gods that belonged to other people and worshiped Yahweh again.

10:16b and He could no longer bear the misery of Israel.

⌊Yahweh saw how sorry they were.⌋ He did not want them to be hurt any more.
-or-
Yahweh saw that they were suffering very much, and he felt sorry for them.

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