Just before his death, Moses sought to bless Israel, after having rebuked them often during the course of his life. He asked their forgiveness, and they asked his forgiveness.

The heavenly assembly came to Moses and said: The time has come for you to pass from the world. He said to them: Wait for me until I bless Israel, as they never found respite from me because of all the warnings and reprimands with which I would rebuke them. Moses began blessing each and every tribe individually. When he saw that time was growing short, he included all of them in one general blessing….

Moses said to Israel: I aggrieved you a lot concerning Torah and mitzvot; now forgive me. The Israelites said: Our master, our lord, all is forgiven you. Israel, too, stood before Moses and said to him: Moses our teacher, we greatly angered you and we troubled you greatly; forgive us. He said: All is forgiven you. (Tanĥuma, Va’ethanan)