Paidion wrote:"For I did not speak to your fathers, or command them in the day that I brought them out of the land of Egypt, concerning burnt offerings or sacrifices."But this is what I commanded them, saying, ‘Obey My voice, and I will be your God, and you shall be My people. And walk in all the ways that I have commanded you, that it may be well with you.’ (Jeremiah 7:22,23)
To say God didn't command concerning sacrifices is to say the Torah is just a big mistake. They were said to be the very words of God, not some interpretation by Moses. The point was all the commands were to introduce a relationship to the Holy Spirit and the idea of grace (God providing something that "fixes" us).
Therefore, when He came into the world, He said: "Sacrifice and offering You did not desire, But a body You have prepared for Me. (Heb 10:5)
In burnt offerings and sacrifices for sin You had no pleasure. (Heb 10:6)
Sacrifice and offering you do not desire, but you have given me an open ear. Burnt offering and sin offering you have not required.(Psalm 40:6)
These are messianic prophecies that show he is the fulfillment of the Tanach. The body God prepared for Jesus was so that he could
be the ultimate Old Covenant ending sacrifice himself, so obviously God desired "sacrifice and offering" of Jesus, just much deeper than an animal. The writer in Hebrews equates "a bored ear" (meaning hear and obey as a servant who desired to be one) to Christ's incarnation, taking up a body and sacrificing it both in life and death. This is why when Christ said "I came to do the will of Him who sent me," is exactly parallel to Hebrews 10:7 the very next verse:
Then I said, ‘Here I am—it is written about me in the scroll—
I have come to do your will, my God.’ ”
First he said, “Sacrifices and offerings, burnt offerings and sin offerings you did not desire, nor were you pleased with them”—though they were offered in accordance with the law. Then he said, “Here I am, I have come to do your will.” He sets aside the first to establish the second. And by that will, we have been made holy through the sacrifice of the body of Jesus Christ once for all.
This is not saying "whoopsie, the Law was all a big mistake and now Christ fixes our silly idea about it all." This is saying, Christ replaces the Law because Christ fulfilled the Law we all broke, and introduces to a living reality that the shadow reality testified to. Christ
is all those offerings in one offering, and God was pleased with those old sacrifices because they stood for the coming one. As Isaiah said, "But Yahweh was pleased to crush him" (Isa 53:10). This is why Paul says "Circumcision is nothing, and uncircumcision is nothing, but the keeping of the commandments of God." We might say, but Abraham was
commanded to do it; so what does this verse mean? It means true obedience is from the heart, not just technically doing what the command says. We can only keep the commandments of God in our heart, not our actions, and we never do that, so God sent someone who could really say "I have come to do your will, my God," as a fulfillment of the broken Old Covenant, which God knew we could never keep the jot and tittle of. So the sacrifices were a reminder of the need for a Messiah and personal sin, that's their entire purpose. Whenever Scripture says "You did not desire sacrifice" it is either directly addressing the Messiah (who came to bring a new covenant) or people that perfunctorily did the sacrifices but their hearts were far from God.