18:12a They went up and camped at Kiriath-jearim in Judah.

On the way they camped near Kiriath Jearim in the land of Judah.
-or-
They put up their tents near the town of Kiriath Jearim which belonged to the clan of Judah.

18:12b That is why the place west of Kiriath-jearim is called Mahaneh-dan to this day.

It was a place to the west of Kiriath Jearim, and people still refer to it as Mahaneh Dan, which means “Camp of Dan.”
-or-
That is why they still call the place to the west of Kiriath Jearim “Camp of Dan.”

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