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]])