Midrash su Salmi 110:2

2 "And say to Aaron take your staff. There it is written, a staff of Your Strength G-d shall send forth from Zion" (Psalms 110:2). The Holy One, Source of all Blessing is He, does not discipline the wicked except with a staff. And why is this? Because [the wicked] are compared to dogs. As it says "And they return each evening, crying out like dogs" (Psalms 59:15). As it is normal to strike a dog with lashes, so too they [the wicked] are lashed.. For this it is said "The staff of Your Strength." G-d said to them [Moses and Aaron]: 'Pharaoh is wicked. If he asks you "give us a sign," strike him with the staff' as it says "Say to Aaron: 'take your staff'"

23 "And the staff of Aharon" (Numbers 17:21). Some say that it is the staff that was in the hand of Yehudah, as it is stated (Genesis 17:23), "and the staff in your hand." And some say that it is the staff that was in the hand of Moshe. And it blossomed on its own, as it is stated (Numbers 17:23), "behold the staff of Aharon sprouted." And some say that Moshe took one beam, cut it into twelve boards and said to them, "All of you, take your stick from one source." And for what did he do this? "It is honorable for a man to desist from strife, but every fool becomes embroiled" (Proverbs 20:3) - so that they not say, "His stick was damp and [so] flowered." And the Holy One, blessed be He, decreed about the stick; and the explicit name [of God] that was on the diadem (tsits) was upon it, as it is stated (Numbers 17:23), "and a flower came out and it blossomed a blossom (tsits)." And it flowered at night and made a fruit. "And it put out (yigmol) almonds (shekedim) - it granted good (gamal) upon anyone who was constant (shakad) with the tribe of Levi. Why almonds and not pomegranates or nuts? Because Israel was compared to them. And that staff was in the hand of each and every king until the Temple was destroyed and it was hidden. And this staff will be in the hand of the king Messiah in the future, quickly in our days - as it is stated (Psalms 110:2), "The Lord will stretch forth from Zion your mighty staff; hold sway over your enemies."

Another explanation. “May He send your aid from His sanctuary, and may He support you from Zion.” (Psalms 20:3) R’ Levi said: all the good and blessings and consolation which the Holy One will give to Israel in the future only come from Zion. Salvation is from Zion, as it says “O that the salvation of Israel would come out of Zion…” (Psalms 14:7) Might is from Zion, as it says “The staff of your might the Lord will send from Zion…” (Psalms 110:2) Blessing is from Zion, as it says “May the Lord bless you from Zion…” (Psalms 134:3) The shofar’s blast is from Zion, as it says “Sound a shofar in Zion…” (Yoel 2:1) Dew, blessing and life are from Zion, as it says “As the dew of Hermon which runs down on the mountains of Zion, for there the Lord commanded the blessing, life forever.” (Psalms 133:3) Torah is from Zion, as it says “…for out of Zion shall the Torah come forth…” (Isaiah 2:3) Help and assistance are from Zion, as it says “May He send your aid from His sanctuary…” from the sanctity of the acts which you have done “…and may He support you from Zion,” (Psalms 20:3) from the distinguished actions which you have done. The Holy One said to Moshe: go and tell Israel ‘my son, just as I am separate, so too you be separate. Just as I am holy, so too you be holy.’ This is what is written “You shall be holy…” (Leviticus 19:2)

'And he said what is the guarantee that I shall give etc.' - Rabbi Hunya said: The Ruach HaKodesh [prophetic spirit] glimmered within her, your seal is Royalty, as it is said (Song of Songs 8:6): "Set me as a seal upon thy heart". (Jeremiah 22:24) "As I live, saith the LORD, though Coniah the son of Jehoiakim king of Judah were the signet upon My right hand". "And thy cord", that is the Sanhedrin, who are found in the cord, as it is said (Exodus 39:31) "A cord of blue". "And thy staff", that is the Messiah, as it is said (Isaiah 11:1): "And there shall come forth a shoot out of the stock of Jesse". (Psalms 110:2) "The rod of Thy strength the LORD will send out of Zion". "And he gave them to her etc". "And she conceived by him", Heroes like so, and Righteous ones like so. "And Judah sent etc." Yehuda Bar Nachman said in the name of Reish Lakish (Proverbs 8:31): "Playing in His habitable earth" (Proverbs 8:30) "Playing always before Him", the Torah, that delights his creations. The Holy One Blessed be He said to Judah: You lied to your father, with a goat kid, so too, Tamar lies to you with a goat kid.

“Take the staff…” (Bamidbar 20:8) This is what the scripture says “The staff of your might the Lord will send from Zion…” (Psalms 110:2) This is the staff which was in the hand of our father Yaakov, as it says “…for with my staff I crossed…” (Genesis 32:11) And it is the staff which was in the hand of Yehudah, as it says “Your signet, your cloak, and the staff that is in your hand.” (Genesis 38:18) And it was in the hand of Moshe, as it says “And you shall take this staff in your hand…” (Exodus 4:17) And it was in the hand of Aharon, as it says “Aaron cast his staff…” (Exodus 7:10) And it was in the hand of David, as it says “And he took his staff in his hand…” (Samuel I 17:40) And it was in the hand of every king until the Holy Temple was destroyed, and so in the future that very staff will be given to the King Messiah and with it he will rule over the nations of the world in the future. Therefore it says “The staff of your might the Lord will send from Zion…” (Psalms 110:2)…