Psalms 68:17 - Wesley's Explanatory Notes

Chariots — The armies (whereof chariots were an eminent part in those times) which attend upon God to do his pleasure. Twenty thousand — An innumerable company, a certain number being put for an uncertain. Among them — Here the psalmist seems to be transported by the prophetic spirit, from the narration of those external successes, to the prediction of the Messiah; and of the transcendent privileges and blessings accruing to mankind thereby. As in Sinai — God is no less gloriously, though less terribly present here, than he was in Sinai, when the great God attended with thousands of his angels, solemnly appeared to deliver the law. Yea, here is a greater privilege than Sinai had, The Lord Jehovah descending from heaven into an human body, as appears by his ascending thither again, which the next verse describes.