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OET (OET-LV) And_commanded DOM the_people to_say when_see_you(pl) DOM the_box_of the_covenant_of YHWH god_of_your(pl) and_the_priests the_Levitical carrying DOM_him/it and_you(pl) you(pl)_will_set_out from_place_of_your(pl) and_go after_it.
OET (OET-RV) and instructed the people, “As soon as you all see the box containing the agreement with your god Yahweh, and see the Levitical priests carrying it, then you yourselves should move out from your places and follow after it.
Note 1 topic: figures-of-speech / infostructure
כִּרְאֽוֹתְכֶ֗ם אֵ֣ת אֲר֤וֹן בְּרִית־יְהוָה֙ אֱלֹ֣הֵיכֶ֔ם וְהַכֹּֽהֲנִים֙ הַלְוִיִּ֔ם נֹשְׂאִ֖ים אֹת֑וֹ וְאַתֶּ֗ם תִּסְעוּ֙ מִמְּק֣וֹמְכֶ֔ם וַהֲלַכְתֶּ֖ם אַחֲרָֽיו׃ אַ֣ךְ ׀ רָח֣וֹק יִהְיֶ֗ה בֵּֽינֵיכֶם֙ ובינו כְּאַלְפַּ֥יִם אַמָּ֖ה בַּמִּדָּ֑ה אַֽל־תִּקְרְב֣וּ אֵלָ֗יו לְמַ֤עַן אֲשֶׁר־תֵּֽדְעוּ֙ אֶת־הַדֶּ֨רֶךְ֙ אֲשֶׁ֣ר תֵּֽלְכוּ־בָ֔הּ כִּ֣י לֹ֧א עֲבַרְתֶּ֛ם בַּדֶּ֖רֶךְ מִתְּמ֥וֹל שִׁלְשֽׁוֹם
when,see,you(pl) DOM ark_of covenant_of YHWH God_of,your(pl) and,the,priests the,Levitical carrying DOM=him/it and,you(pl) set_out from,place_of,your(pl) and,go (Some words not found in UHB: and,commanded DOM the,people to=say when,see,you(pl) DOM ark_of covenant_of YHWH God_of,your(pl) and,the,priests the,Levitical carrying DOM=him/it and,you(pl) set_out from,place_of,your(pl) and,go after,it )
If if it would be more natural in your language, you could reverse the order of the phrases in these two verses so that the reason why Joshua wants the Israelites to follow the ark will precede the instructions he gives them to do that. Alternate translation: [Since you have not passed over by the way from yesterday or the third day, so that you will know the way in which you should go, as you see the Box of the Covenant of Yahweh your God and the priests, the Levites, lifting it, then you yourselves shall set out from your place and go after it]
3:3 The Ark of the Covenant of the Lord was God’s dwelling place among the Israelites and symbolized his throne. Whenever Israel moved, a contingent of priests carried the Ark before them (Exod 25:13-15; Num 10:33-36).
OET (OET-LV) And_commanded DOM the_people to_say when_see_you(pl) DOM the_box_of the_covenant_of YHWH god_of_your(pl) and_the_priests the_Levitical carrying DOM_him/it and_you(pl) you(pl)_will_set_out from_place_of_your(pl) and_go after_it.
OET (OET-RV) and instructed the people, “As soon as you all see the box containing the agreement with your god Yahweh, and see the Levitical priests carrying it, then you yourselves should move out from your places and follow after it.
Note: The OET-RV is still only a first draft, and so far only a few words have been (mostly automatically) matched to the Hebrew or Greek words that they’re translated from.
Acknowledgements: The Hebrew text, lemmas, and morphology are all thanks to the OSHB and some of the glosses are from Macula Hebrew.