New American Standard Bible
Then behold, a hand touched me and set me trembling on my hands and knees.
King James Bible
And, behold, an hand touched me, which set me upon my knees and upon the palms of my hands.
Darby Bible Translation
And behold, a hand touched me, which set me upon my knees and the palms of my hands.
World English Bible
Behold, a hand touched me, which set me on my knees and on the palms of my hands.
Young's Literal Translation
and lo, a hand hath come against me, and shaketh me on my knees and the palms of my hands.
Daniel 10:10 Parallel
CommentaryBarnes' Notes on the Bible
And, behold, an hand touched me - The hand of the angel. Compare Daniel 8:18.
Which set me upon my knees and upon the palms of my hands - Not "upright," as in Daniel 8:18. That is, he had not strength given him at once to stand erect, but he was partially raised up and enabled to move, though in a feeble and tottering manner. The word used here (נוע nôa‛) means to move to and fro; to waver; to vacillate; and the sense here, as expressed by Gesenius (Lexicon) is, "lo, a hand touched me, and caused me to reel (i. e., to stand reeling and trembling) upon my knees and hands." He was gradually restored to strength.
I. (Greater licence, p. 104.) In this treatise, which is designed to justify the extremes of Montanistic fasts, Tertullian's genius often surprises us by his ingenuity. This is one of the instances where the forensic orator comes out, trying to outflank and turn the position of an antagonist who has gained an advantage. The fallacy is obvious. Kaye cites, in comparison, a passage  from "The Apparel of Women," and another  from "The Exhortation to Chastity." He remarks, "Were we required …
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When I saw Him, I fell at His feet like a dead man. And He placed His right hand on me, saying, "Do not be afraid; I am the first and the last,
Then the LORD stretched out His hand and touched my mouth, and the LORD said to me, "Behold, I have put My words in your mouth.
Now while he was talking with me, I sank into a deep sleep with my face to the ground; but he touched me and made me stand upright.
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