How did the slaves know what pleases Allah?
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They knew him it from the messengers whom Allah sent with the divine messages which clarify the way to please Allah, and to avoid his anger Him. Therefore, the clear evidences of Allah and his ultimate wisdom appeared.
Allah said ( interpretation of the meaning ):
{ [We sent] messengers as bringers of good tidings and warners so that mankind will have no argument against Allah after the messengers. And ever is Allah Exalted in Might and Wise.}
Quran ( 4: 165 )
Allah said ( interpretation of the meaning ):
{ Say, [O Muhammad], "If you should love Allah, then follow me, [so] Allah will love you and forgive you your sins. And Allah is Forgiving and Merciful." }
Quran ( 3: 31 )