He decreed statutes for Jacob and established the law in Israel, which he commanded our ancestors to teach their children (NIV)
For He established a testimony (an express precept) in Jacob and appointed a law in Israel, commanding our fathers that they should make [the great facts of God's dealings with Israel] known to their children (AMP)
For he established a testimony in Jacob, and appointed a law in Israel, which he commanded our fathers, that they should make them known to their children: (KJV)