This does not mean that Shem, Ham and Japheth were born at the same time. This verse probably means, ‘Noah lived for 500 years and then he became the father of Shem. And in the next few years he became the father of Ham and of Japheth.’

descendants ~ children and grandchildren and later members of the family.
command ~ to tell people (or a person) that they must do something; to say to people (or to a person) something that they must obey; to control by means of commands. A command is an order that one must obey.
Lord ~ a lord is a person who has authority. ‘The Lord’ means God. It is a translation of God’s name. The Hebrews wrote God’s name as YHWH. We may write it as Yahweh.

Hebrew ~ the Hebrew people were Abraham and his descendants. The ancient Hebrew language is the original language of Genesis. It is also the original language of most of the Old Testament (the first part of the Bible). This language is like the modern Hebrew language, which people speak in the country Israel today.

descendants ~ children and grandchildren and later members of the family.

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