10:10a And do not complain,

Also, you (plur.) should not complain/whine,
-or-
Nor should you object ⌊to what God is doing⌋.

10:10b as some of them did,

as some of them complained/whined.
-or-
This was what many of the Israelites did,

10:10c and were killed by the destroying angel.

Because they complained an angel of death killed them.
-or-
and so ⌊the Lord sent⌋ his angel/messenger to kill them.

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