In this very brief story in the Book of Joshua, chapter 5, an angel appears to Joshua, near Jericho, and tells him to take off his shoes, for he is standing on holy ground.

There is a similar but better-known passage in the story of Moses and the Burning Bush, in Exodus 3:5, where Jehovah commands Moses to take off his shoes, again because he is on holy ground.

What do these stories mean?

In both stories, there is a warning. The angel who confronts Joshua does so with a drawn sword. In Exodus, there's a burning bush, and Jehovah warns Moses, "Do not draw near this place." These warnings mean that Moses and Joshua have to grow beyond thinking of the Divine from just a sensuous level. Instead, they need to start approaching the Divine with their more interior minds, through what they love and understand.

They are both told to take off their shoes. Why? Shoes represent the lowest, sensual part of our minds. That low, physically-oriented part of our mind can get in the way of our ability to elevate our minds and start to think clearly about spiritual things.

It's interesting. We need to be able to elevate our minds to be able to receive and think about spiritual truths, and we also need to live them out through our natural minds in the natural world. We have to get good at using this tension between elevation and grounding.

If we do make headway in our spiritual thinking, and in living out the truths we know, gradually our natural mind gets re-formed, too, so that it's capable of receiving influx from the Lord, too. Here are links to two of the key passages in Swedenborg's works that explain this further:

Arcana Coelestia 6843, and Arcana Coelestia 6844.

4882. 'And went' means life. This is clear from the meaning of 'going' as living, dealt with in 3335, 3690. This meaning of 'going' in the internal sense as living does indeed seem quite remote from or unrelated to ideas man has which constitute his thought. The reason for this is that man dwells within space and time, and with these has formed the ideas comprising his thought, such as the idea of going, advancing, setting out, sojourning, or moving on. Now because these actions occur within both space and time, and as a consequence space and time have become embedded in ideas of those actions, man therefore finds it difficult to grasp that states of life are meant. But when his idea of those actions is relieved or divested of spatial and temporal elements the spiritual reality that is meant leaps out. For in the spiritual world or heaven nothing at all spatial or temporal enters the ideas they have, but instead aspects of a state of life, 1274, 1382, 2625, 2788, 2837, 3356, 3404, 3827, 4814. It does indeed appear to spirits and angels that they too move about, going from one place to another, and indeed exactly in the same way as it appears so to men. All the same, it is the changes taking place in their state of life that are responsible for this appearance. To them also, no less than to men, the appearance is that they live self-dependently, when in fact they do not live self-dependently but are dependent on the Lord's Divine, the source of every spark of life. Among angels these appearances are called real ones, because they seem in all reality to exist.

[2] I have on occasions spoken to spirits about these appearances, but those who are not governed by good, nor consequently by truth, do not wish to listen when told it is but an appearance that they live self-dependently; for their wish is to live self-dependently. But in addition to showing them from actual experience that they do not lead self-dependent lives and that every advance made from one place to another is a change to, and an advance made in, their state of life, I have also told them that for them it may be sufficient for them to know no other than that they live self-dependently, and that their life would be life no more if they did not live self-dependency. It would nevertheless be better for them to know what the situation really is, for in that case they would have the truth; and if they have the truth they also dwell in the light of heaven, since the light of heaven is the truth itself which flows from the Lord's Divine. Furthermore, if the truth existed with them in this way they would not claim that good was their own, nor would evil cling to them. Angels possessing that truth do not merely know it; they also have a perception of it.

[3] Intervals of time and space in the spiritual world are states of life, and every spark of life has its origin in the Lord, as the following experience may show. Each spirit and angel sees on his right those who are good and on his left those who are evil; this is so in whatever direction he turns himself. If he turns and looks eastwards he sees the good to the right and the evil to the left. The same happens if he turns and looks to the west, and likewise to the south or the north. This is the case with every spirit or angel, so that if there were two, and one of these turned and looked to the east and the other did so to the west, each would still see the good on his right and the evil on his left. Those far removed from, even behind the backs of, those who behold them are seen in those unchanging positions. From these considerations one may deduce clearly that every spark of life has its origin in the Lord, that is, that the Lord is within the life of everyone; for in the spiritual world the Lord is seen as the Sun, the good or sheep being on His right, and the evil or goats on His left. The same is therefore the case with each spirit or angel, for the reason, as stated, that the Lord exists in every spark of life. This is bound to look like a paradox to man, for as long as he is in the world man has ideas that are formed from worldly things, and therefore from what is spatial and temporal. But as stated above, in the spiritual world no ideas are formed from what is spatial and temporal but from the state belonging to affections and the thoughts flowing from these. It is for this reason also that the intervals of space and time in the Word mean states.