Targum Yonasan, Pirkei d'R. Eliezer 36, Tanchuma 12): They were images consisting of a head that had been severed from a firstborn son whom they had slaughtered. They would then boil it with salt and spices, and place under its tongue a golden plate on which they had written incantations.
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Finally, they would affix it to a wall and it would speak to them and tell them the future.
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This was actually the god that Lavan worshipped.
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2.
Sechel Tov: They are an idolatry used to gather things (through witchcraft - refer to Devarim 18:11:1:1).
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Ibn Ezra: They are human forms to receive higher powers. We find that Michal put Terafim in the bed, and people thought that it is David.
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Radak: They are copper Kelim used to tell time, and through them, people can tell the future. They often lie.
Indeed, Lavan was a sorcerer (See above, 30:27), and his country (which was also the home-country of 'Bil'am the sorcerer'), was renowned for its sorcery (See Ramban). Also refer to 25:6:6:3.
Though not all Terafim were worshipped (See Ramban).
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Why did Rachel steal the Terafim?
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Rashi: She stole them to stop her father from worshipping idols.
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Rashbam: She stole them so that they would not divulge their plans to run away.
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Moshav Zekenim, Hadar Zekenim, Da'as Zekenim, Ha'amek Davar (from Pirkei d'R. Eliezer 36): It was lest they reveal that (Malbim - on which path) they had fled.
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Moshav Zekenim questions this, for he could make new idols. (This is not difficult according to the opinion that they are from the head of a slaughtered human Bechor - refer to 31:19:1:1 - PF.) R. S. R. Hirsh (based on Avodah Zarah 41b) - she expected him to reason - if they cannot guard themselves, how can they save others?!
Why didn't Rachel destroy the Terafim, i.e. by burning them, or throwing them in the river?
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Gur Aryeh: She was afraid that Lavan would pursue them, and would refuse to believe her that she did not have them.
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Why does the Torah say that Lavan had gone to shear his flock?
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Ha'amek Davar: It is a time of Simchah and a family feast, so everyone in Lavan's house went. It was an opportune time (Malbim - to flee, and) for Rachel to steal the Terafim.
QUESTIONS ON RASHI
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Rashi writes: "'To shear his sheep' - which he had left with his sons, three days' journey away." What is Rashi telling us?
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Gur Aryeh: We are not referring to those sheep of Lavan's that Yaakov had been watching. Those sheep were close by, and Yaakov would not have been able to escape.
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Rashi writes: "Rachel stole the Terafim - He intent was to distance her father from idolatry." How do we know this?
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Gur Aryeh #1: How else can we explain that Rachel would steal?
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Gur Aryeh #2: Seeing as Lavan worshiped these Terafim,
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how could she bring such an item into her house? Her intent must have been for her father's benefit.
