... To wait upon 照顾 serve wait upon 侍奉 attend on serve wait upon 侍候 ...
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attend on serve wait upon 侍候
The line "Wait upon them day and night, without ever leaving their bedside" is talking about the spirit with which we should serve our parents.
所以“不论白天夜晚都侍奉着，不离开父母的床边”，这意思是指孝事父母的那个“心”；
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