"Meaning that the people will make sure that Militia is well regulated and not running around raping and pillaging."
When the Constitution was written, the militia was the main military force of the United States. That militia was composed of all able-bodied males within a certain age range. In the context of the second amendment, a "well regulated" militia was one that was well equipped and trained. Members of the militia - meaning you and your neighbors - were expected to own a weapon to take with you when were called up by the governor or president in times of crises. You were also expected to know how to use it. Keeping the weapon gave the militia member an opportunity to train with it.
There was a fear of having a professional standing army at that time because it could be used by the government to oppress the people.
The people as the military force supporting the government kept the power in the hands of people - all military age males, locally organized. That is what made the militia "necessary to the security of a free state." The people remained free because they were the military.
Read up on Shays' Rebellion in MA. The governor wanted to tax Rev War vets to pay speculators who held state issued IOUs. Those same vets sold those pay-promises to the speculators at pennies on the dollar. Now the speculators got the state to declare the IOUs would be paid at face value plus interest and in silver. The veterans started shutting down the local courts to prevent the tax being collected. The MA governor called out the militia to stop Shays. The militia knew what was going on and refused. The speculators were forced to hire mercenaries to scatter Shays' army.
That is how it is supposed to work. If the government wants to enforce its corrupt authority, the militia - which is the people - says "No." That is why the militia is necessary for the security of a free state. Not only from threats to its freedom from foreign powers, but also from internal corruption. The government has no formal political police force loyal to it to oppress the people. The people have the power to exercise consent to being governed.
[F]orce can only settle questions of power, not of right. - Clyde N. Wilson
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