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extensively detailed in parashat Shemini? Aharon’s sons feared that Bnei
Yisrael would become accustomed to the presence of the Shechinah and
would therefore become careless in regard to the Mishkan’s service. Their
fears were well-founded, since Bnei Yisrael had displayed a lack of
appreciation regarding the many miracles Hashem performed for them.
Since they got used to their extraordinary situation, they also became lax
in displaying respect to their leaders. Therefore, Nadav and Avihu
purposely did an act that would make themselves liable for death. This
was in order to impress upon Bnei Yisrael the importance of guarding the
honor of the Shechinah and the kedushah of the Mishkan. As a reward,
they merited that this parashah, which discusses honoring the Mishkan,
memorializes their death.

Similarly, Tzelafchad sacrificed his life in order to teach Bnei Yisrael to
meticulously fulfill mitzvot while still in the Desert, and not only after
entering Eretz Yisrael.

There is an opinion that Aharon’s sons were liable for death because of
their cumulative liability. On the other hand, whoever says that Aharon’s
sons sinned is mistaken. We can learn from this that Hashem does not
punish a person immediately. Hashem first sends him signals to awaken
him to teshuvah. Only if he persists in his wrongdoing does Hashem
punish him.