Proverbs 29:18 Midrash

בְּאֵ֣ין חָ֭זוֹן יִפָּ֣רַֽע עָ֑ם וְשֹׁמֵ֖ר תּוֹרָ֣ה אַשְׁרֵֽהוּ׃

Where there is no vision, the people cast off restraint; But he that keepeth the law, happy is he.

Read midrashic interpretation of Proverbs 29:18: and classical rabbinic exegesis.