In Temple times one would travel to Jerusalem three times a year for the Pilgrim Festivals (or 'Foot Festivals') Pesach, Shavuot and Succot.

In this discourse, taught by the Rebbe on Parshat Mishpatim, which then (like this year) was Rosh Chodesh, the New Moon, the initial focus is on the end of Haftorah from the end of Isaiah, which speaks of travelling to the Temple every month on Rosh Chodesh, or even every week for Shabbat. The discussion then turns to Hebrew slave in the Sedra, which is explained as the individual Jew who comes from an exalted spiritual source but descends into a low physical world, in order to elevate it.  To fulfil this task, he or she must be connected with their spiritual source.