16:40a to regularly present burnt offerings to the LORD on the altar of burnt offerings,

⌊He left them there⌋ to regularly offer burnt offerings to Yahweh on the altar for burnt offering.
-or-

⌊The work of these priests⌋ was to give burnt sacrifices to Yahweh. ⌊They were to do this⌋ continually on the altar of burnt sacrifices.

16:40b morning and evening, according to all that was written in the Law of the LORD,

⌊They were to do this⌋ every morning and evening. ⌊They were to ⌋ follow everything that was written in the Law of Yahweh.
-or-

⌊They were to burn these sacrifices⌋ every morning and every evening. ⌊They were to do this⌋ to obey everything written in the teachings of Yahweh.

16:40c which He had commanded Israel to keep.

⌊This is the Law⌋ that ⌊Yahweh⌋ had given to ⌊the people of⌋ Israel.
-or-

⌊Yahweh⌋ had commanded ⌊the people of⌋ Israel ⌊to follow these teachings⌋ .

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