13:19a Then Manoah took a young goat and a grain offering and offered them

So Manoah took the young goat along with a grain offering.
-or-
Then Manoah brought a young goat. He also brought a gift of grain.

13:19b on a rock to the LORD.

He sacrificed it to Yahweh on a rock.
-or-
There on a rock he burnt them as an offering/gift to Yahweh.

13:19c And as Manoah and his wife looked on, the LORD did a marvelous thing.

Then Yahweh did something that amazed Manoah and his wife as they watched.
-or-
Then, as Manoah and his wife were watching, Yahweh did something amazing.

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