And the people stood afar off,.... Still kept their distance in their camp and tents; or the heads and elders of the people having had this conversation with Moses, returned to their tents as they were bid, Deuteronomy 5:30 and to the people in the camp, and there they continued while Moses went up to God with their request:
and Moses drew near to the thick darkness where God was; the thick cloud, Exodus 19:9 as Jarchi interprets it, and who observes from their doctors that there were three enclosures about the divine Majesty, darkness, a cloud, and thick darkness; and so Moses passed through the darkness, and the cloud, to the thick darkness where Jehovah was, and where he is said to dwell when the temple was built, 1-Kings 8:8 and they have an observation that the word rendered "drew near" is transitive, and should be translated, "he was brought near" or, "made to draw nigh"; Michael and Gabriel being sent to him, took hold of his hands and brought him against his will unto the thick darkness (r); but if the word will admit of such a version, the sense is either that he was caused to draw near through the importunity of the people; or rather through the call of God to him, or an impulse of his upon his mind, which obliged him to it.
(r) Pirke Eliezer, c. 41.

"So the people stood afar off" (as in Exodus 20:18), not "went far away," although, according to Deuteronomy 5:30, Moses was directed by God to tell the people to return to their tents. This is passed over here, and it is merely observed, for the purpose of closing the first act in the giving the law, and preparing the way for the second, that the people remained afar off, whereas Moses (and Aaron, cf. Exodus 19:24) drew near to the darkness where God was, to receive the further commands of the Lord.

While the people continued to stand afar off - Afraid of God's wrath, Moses drew near unto the thick darkness; he was made to draw near, so the word is: Moses of himself durst not have ventured into the thick darkness if God had not called him, and encouraged him, and, as some of the Rabbins suppose, sent an angel to take him by the hand, and lead him up.