Galatians 4:4-7
Chapter 4
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But when the fullness of time arrived, God sent his Son. He came born of a woman and subject to the law,
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in order to redeem those under the law, so that we might receive adoption as children of God.
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And because you are children, God has sent into your hearts the spirit of his Son, who cries out: Abba, Father!
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So you are no longer a slave but a child, and if a child, also an heir through God.

Commentaries
Slaves and Children.
Paul describes the pedagogical role of the Law by comparing it to the guardianship of slaves over children. When the age of majority, determined by the father, is reached, the son is emancipated and gains all the rights of a son and heir. The Law served as a “guardian” during the people’s minority. God sets a date in history and sends His Son, the Heir. And we, united with Him, have also become children and heirs.