Watch and heed all these things that I charge you, so that it will go well with you and with your children after you for all time when you do what is good and upright in the eyes of the LORD your God. Rashi explains that we are to do what is “good” in the eyes of God, and “upright” in the eyes of people. Why this distinction? To determine whether something is good, R. Baruch Epstein explains, one must know the final outcome and therefore only God knows what is truly good. The best we humans can aim for is to do that which is “upright” – what is just and honest in the present moment.