What is the meaning of "mi'Lifnei Hashem"?
Rashi: "mi'Lifnei Hashem" means that he took the coals from the west side of the Mizbe'ach, which was the closest to the entrance to the Kodesh.
From which Mizbe'ach did Aharon take coals for the Ketores?
Bearing in mind that all Ketores was ground fine (Dakah), why does the Torah see fit to write "Dakah" here, in connection with the Ketores on Yom Kipur?
Rashi: This teaches us that the Ketores on Yom Kipur was grounded particularly fine (Dakah min ha'Dakah). 1
Because on Erev Yom Kipur, he returned the ground Ketores to the grinder and ground it again.
Why was Aharon commanded to bring the Ketores at this point?
Seforno: After he brought his Chatas and said Viduy, he was free of sin, and therefore ready to receive the Shechinah, which was about to appear on the lid of the Aron, 1 It was therefore appropriate to honor the Shechinah by entering Its presence with the Ketores. 2