Who instructed Moshe to ascend Har Sinai?
Rashbam: An angel. 2
Targum Yonasan, it was Micha'el, the angel of wisdom (See Peirush Yonasan). Moshav Zekenim - the letters of "Mal'achi" spell Micha'el 3 , the angel that Hashem sent to lead Yisrael.
Until now, Hashem had been instructing Moshe the Mitzvos and Mishpatim to pass on to Yisrael; now He was instructing him what he (Moshe) had to do (Ramban).
Moshav Zekenim: Initially Hashem wanted to send Metatron, the judge; there is no mercy in judgment. Moshe requested an angel of mercy, and He sent Micha'el.
Since Hashem was speaking, why did He say "Alei El Hashem, and not 'Alei Elai"?
Ramban #1: It is common practice for the Torah to state the name in place of the pronoun. 1
Ramban #2 (Citing Sanhedrin, 38b), it was Hashem instructing Moshe to go up to Matatron, whose name is synonymous with His Master. 2
When was this Parshah said?
Rashi: It was said on the fourth of Sivan (before Matan Torah). 1
And on the fifth of Sivan, Moshe built a Mizbe'ach, and they brought on it Olos and Shelamim and entered into a covenant via the blood of the Korbanos (Rashi, Gitin, 88b [See also Sifsei Chachamim]). According to the Ramban, this is one opinion in the Mechilta. The Ramban himself (Refer to 24:1:3:2) explains the Parshah according to the other opinion.
It therefore transpires that all the Pesukim from Shemos 20:19 until 23:33 (known as 'Sefer ha'Beris' are written in the correct order. Moreover, the words of Hashem and the Mishpatim referred to in Pasuk 3 are synonymous with the Aseres ha'Dibros and the Mitzvos of Parshas Mishpatim - and not the the Mitzvos of P'rishah and Hagbalah, those that were said at Marah and the seven Mitzvos B'nei No'ach, as Rashi explains there (Ramban). According to the Rashbam, Moshe only ascended after the cloud had covered him for six days (See Rashi, later, Shemos 24:16).
Consequently, Pasuk 3 and the first part of Pasuk 4, took place on the same day, and from the second half of Pasuk 4 until Pasuk 11, on the following day, on the seventh of Sivan, when Moshe finally ascended the Mountain for forty days (Ramban).
Why were Elazar and Itamar not told to ascend? They were at a higher level than the Zekenim, like we find in Eruvin (54b)!
Moshav Zekenim: Hashem knew that those who ascended (except for Moshe and Aharon) would be Chayav Misah; the Zekenim 1 died at Tav'eirah. Had also Elazar and Itamar ascended, all of Aharon's children would have died. 2