The text of this pasuk is inconsistent. It begins by stating that the Torah has been commanded to us and ends by saying that it is the heritage of the congregation of Yaakov. Who is included in the words of “Kehillas Yaakov“? Horav Chaim Elazary, zl, suggests that the congregation of Yaakov is a reference to all Jews, even those who have not had the opportunity to study Torah and develop a proficiency in it. The am haarertz, so to speak illiterate Jew, who performs mitzvos is devoted to Yiddishkeit. He just does not learn, although he respects those who do. Thus he is is included in the congregation of Yaakov.
Horav Elazary recounts a story which serves as an excellent analogy to emphasize this point. One Simchas Torah a simple Jew, whose level of Torah erudition was far from adept, came to the court of a great Chasidic Rebbe. He requested to dance with the Rebbe as he danced with the Torah. When the Rebbe heard this strange request, he asked the man, “Tell me, what is the source of your great joy? Did you study so much Torah during the past year that it warrants such an expression of happiness?” The simple Jew responded, “If the Rebbe’s brother would marry off his daughter, would not the Rebbe participate in the simchah as an uncle? I am sharing in my relative’s simchah!” What a remarkable response. All Jews are part of one great congregation. We should participate in each other’s simchos, as well as in the tragedies. We should share a personal joy with each Jew who celebrates a milestone. The Torah is the heritage of all of Klal Yisrael. While many individuals devote their lives to its study and dissemination, this devotion is not theirs exclusively. It belongs to all of those who are a part of Kehillas Yaakov.