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I have broken Yahweh's commandment

This is an idiom that means he had disobeyed the commandment. AT: "I have disobeyed what Yahweh commanded" (See: rc://en/ta/man/translate/figs-idiom)

because I was afraid of the people

This is the reason Saul gives for not obeying God. AT: "because I was afraid of the soldiers"

obeyed their voice

Here "voice" refers to what the soldiers asked Saul to do. AT: "did what they asked" (See: rc://en/ta/man/translate/figs-metonymy)

return with me

Saul and Samuel were apparently talking in private away from the other people.