3:21a And Ehud reached with his left hand, pulled the sword from his right thigh,

With his left hand, Ehud pulled out the sword that was tied on his right thigh.
-or-
Ehud took the knife that was fastened to his right leg. He took it with his left hand

3:21b and plunged it into Eglon’s belly.

He thrust it into the king’s stomach.
-or-
and pushed it into the king’s belly.

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