Ben compares two similar chapters in the Gospel of John, chapters 13 and 15 to make the point that those who are in relationship with Jesus, those who remain connected to the vine, are already cleaned, purified and pruned. That said, we still need to give Jesus permission to wash our feet by admitting that we need Him, confessing our sins, as well as believing and obeying His word. Jesus' command is to love one another by laying down our lives in humble service to others. These things don't make us clean, because we already are; they simply show that we are clean and that we belong to Him.
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