Мидраш к Бамидбар 20:8

"Take the rod ... give the congregation and their cattle drink" -- From here [we learn] that the Holy One takes pity on Israel's money. "And Moses and Aaron gathered the assembly together before the rock" -- similarly it says "And all of the congregation he gathers to the door of the tent of meeting." This teaches that each one saw himself standing on the face of the rock. Likewise, when they crossed the Jordan, all of the Children of Israel entered between the staves of the ark, as it says (Joshua 3): "Joshua said to the Children of Israel, come near and listen to the words of Hashem." [Similarly] here all of Israel were standing and seeing all of the miracles of the rock. They began to say "Moses knows the rule of the rock. If he asks, it will bring forth water." So Moses was uncertain -- "If I listen to them I nullify the words of the Allpresent, and the Holy One (Job 5:13) 'takes the wise in theןr craftiness.'" But Moses had been careful for 40 years not to get angry at them, because he was terrified of the oath the Holy One swore: "Not one of these men will see [the land]..." They said to him: "Here is a rock; just as you want to bring forth water from another rock, bring it forth from this one." He shouted at them "Hear now, you rebels!" "Rebels (morim)" has many meanings: 1) "stubborn ones" 2) "fools" -- in the sea villages they call fools "morim". 3) "those who teach their teachers" 4) "archers" (In I Sam 31:3 the word "morim" is used to mean "archers".) ... Even so, Moses only used the rock that the Holy One told him [to use].

“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)…