Contrary to the common wisdom, the Israelites were not liberated from slavery at the time of the Exodus. Many midrashim and commentaries stress that what actually happened was a change of ownership: they had been slaves to Pharoah, and then they became slaves to God.
When I was younger, this interpretation rang false to me. The opposite of slavery is freedom, and freedom means being able to do whatever you want, with no master to tell you otherwise. The claim that true freedom lay in subjugation to God seemed oxymoronic. But later I came to understand the rabbis’ meaning, in part with the help of Robert Frost’s exceptional poem “The Silken Tent.” (You can read it here and hear it read here.)