Commentary of Charles Spurgeon, Adam Clarke & Matthew Henry
For ye are not come unto the mount that might be touched, and that
burned with fire, nor unto blackness, and darkness, and tempest, And the sound of a trumpet, and the voice of words; which voice they that heard intreated that the word should not be spoken to them any more: 
(For they could not endure that which was commanded, And if so much as a
beast touch the mountain, it shall be stoned, or thrust through with a
dart: And so terrible was the sight, that Moses said, I exceedingly fear and quake:)
But ye are come unto mount Sion,
and unto the city of the living God,
the heavenly Jerusalem,
and to an innumerable company of angels,
To the general assembly and church of the firstborn,
which are written
in heaven,
and to God the Judge of all,
and to the spirits of just men
made perfect,
And to Jesus the mediator of the new covenant, and to the blood of sprinkling, that speaketh better things than that of Abel.
Vs.18-24
For ye are not come unto the mount that might be touched - I believe the words ψηλαφωμενῳ ορει
should be translated to a palpable or material mountain; for that it
was not a mountain that on this occasion might be touched, the history,
Exodus 19:12, Exodus 19:13, shows; and the apostle himself, in Hebrews 12:20,
confirms. It is called here a palpable or material mount, to
distinguish it from that spiritual mount Sion, of which the apostle is
speaking. Some 
contend that it should be translated tacto de caelo, thunder-struck;
To an innumerable company of
angels - who are of the same family with the saints, under the same head, and
in a great measure employed in the same work, ministering to believers for their
good, keeping them in all their ways, and pitching their tents about them. These
for number are innumerable, and for order and union are a company, and a
glorious one.
To
the general assembly and church of the first-born, that are written in heaven -
that is, to the universal church, however dispersed.
By faith we come to them,
---have communion with them in the same head,
---by the same Spirit,
---and in the same
blessed hope,
---and walk in the same way of holiness, grappling with the same
spiritual enemies, and hasting to the same rest, victory, and glorious triumph.
To God the Judge of all - that great
God who will judge both Jew and Gentile according to the law they are under.
This
is speaking blood, and it speaks better things than that of Abel.
First,
It speaks to God in behalf of sinners; it pleads not for vengeance, as the blood
of Abel did on him who shed it, but for mercy.
Secondly, To sinners, in
the name of God. It speaks pardon to their sins, peace to their souls; and
bespeaks their strictest obedience and highest love and thankfulness.
The Gospel breathes nothing
but mercy; embraces the whole human race;
has Jesus, the sinner's friend, for its mediator; is ratified by his
blood...
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