And God heard their groaning, and God remembered his covenant with Abraham, with Isaac, and with Jacob.

Wesley's Notes

2:24 And God heard their groaning - That is, he made it to appear that he took notice of their complaints. The groans of the oppressed cry loud in the ears of the righteous God, to whom vengeance belongs; especially the groans of God's children, the burdens they groan under, and the blessings they groan after. And God remembered his covenant - Which he seemed to have forgotten, but really is ever mindful of. This God had an eye to, and not to any merit of theirs in what he did for them. And God looked upon the children of Israel - Moses looked upon them and pitied them, but now God looked upon them and helped them. And God had respect unto them - A favourable respect to them as his own. The frequent repetition of the name of God intimates, that now we are to expect something great. His eyes which run to and fro through the earth, are now fixed on Israel, to shew himself strong, to shew himself a God in their behalf.

Matthew Henry's Concise Commentary

2:23-25 The Israelites' bondage in Egypt continued, though the murdering of their infants did not continue. Sometimes the Lord suffers the rod of the wicked to lie very long and very heavy on the lot of the righteous. At last they began to think of God under their troubles. It is a sign that the Lord is coming towards us with deliverance, when he inclines and enables us to cry to him for it. God heard their groaning; he made it to appear that he took notice of their complaints. He remembered his covenant, of which he is ever mindful. He considered this, and not any merit of theirs. He looked upon the children of Israel. Moses looked upon them, and pitied them; but now God looked upon them, and helped them. He had respect unto them. His eyes are now fixed upon Israel, to show himself in their behalf. God is ever thus, a very present help in trouble. Take courage then, ye who, conscious of guilt and thraldom, are looking to Him for deliverance. God in Christ Jesus is also looking upon you. A call of love is joined with a promise of the Redeemer. Come unto me, all ye that labour and are heavy laden, and I will give you rest, Mt 11:28.