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The Nephilim were in the earth in those days, and also afterward, when the sons of God would go in to the daughters of humankind, and they bore them children. These were the warriors of ancient times, the men of renown.
The Nephilim are interesting characters. Here they are depicted as hybrid beings with a status like the demigods of Greek mythology. The KJV reads "giants", but this goes to far. There is nothing specifically in Genesis indicate that "Nephilim" was simply a word for very tall people. True, Numbers does describe them as tall, but is it tallness itself that makes them Nephilim? After all, there are also Rephaim described as tall in the Bible, but we could not make the immediate leap to say that "Nephilim" and "Rephaim" are synonyms.
Kittel suggests that "and also afterward" is a later scribal edit. Though Kittel does not explain his reasoning, if he is right it seems reasonable that the motivation for this edit would be that the scribe knew of Numbers 13:33, in which Nephilim exist on the earth well after the Flood. If the Nephilim had been a race that existed only prior to the Flood, there would be no good accounting for their existence afterward, so the scribe added a note about how the production of Nephilim was a recurrent phenomenon.
The term "go in" is a standard biblical euphemism for sexual relations.
The term "sons of God" is an interesting one. See the work of Michael Heiser on the divine council for more on this.
"Daughters of humankind" is a biblical way of saying, "human women."
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