In this shiur, delivered at NCSY Kollel Mishmar, Rav Burg (quoting from Rav Lopiansky shlit"a) explains why the last battle that Moshe Rabbeinu fought was specifically with Midyan and Bilaam. Why was this a condition for Moshe to move on to the next world? Furthermore, what was the significance of the Tzitz in the battle with Midyan? Are we serving Hashem or serving ourselves? Do we learn Torah in order to pervert the Torah or to do Hashem's will in this world?