6:21a

Then they were willing to take Him into the boat: The Berean Standard Bible follows the Greek and is not clear about whether Jesus actually got into the boat. The disciples were certainly willing to help him climb into the boat, and the whole verse implies that this happened. So it may be natural to follow those English translations that indicate that Jesus did enter the boat. (However, do not imply that the disciples rescued Jesus.) For example:

Then they willingly took him into the boat. (Good News Translation)
-or-
They welcomed him onto the boat. (New Living Translation (2004))
-or-
So they gladly took him on board. (Phillips’ New Testament in Modern English)

6:21b

and at once the boat reached the shore where they were heading: This also was a miracle. The boat reached the shore at once, at the right place.

Here are other ways to translate this clause:

immediately the boat reached the place they were heading for (Good News Translation)
-or-
At once the boat came to land at the place where they wanted to go. (New Century Version)

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