Commentary for Pesachim 228:2

ממאי דילמא לעולם מצות אין צריכות כוונה ודקאמרת תרי טיבולי למה לי כי היכי דליהוי היכירא לתינוקות

the stage when bitter herbs are compulsory, he eats it with [the blessing,] 'Who createst the fruit of the ground,' and perhaps he did not intend [to fulfil the obligation of] bitter herbs; therefore he must dip it again with the express purpose of [eating] bitter herbs. For if you should think [that] precepts do not require intention, why two dippings: surely he has [already] dipped it once?<span class="x" onmousemove="('comment',' The first lettuce is eaten before it is obligatory (v. n. 8 in Mishnah) ; hence the ordinary blessing for vegetables is recited, not 'who hast commanded us concerning the eating (If bitter herbs,' though later it will be eaten as an obligation. This he did not discharge his duty of eating bitter herbs with the first lettuce, because that was not his intention, which proves that one does not discharge one's duty unless it is expressly done with that intention.');">³</span>

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