7:21a Each Israelite took his position around the camp,

Each man stood where he was around the camp.
-or-
The Israel soldiers stood around the camp, each one in his place.

7:21b and the entire Midianite army fled, crying out as they ran.

The Midian soldiers all started running, shouting and fleeing.
-or-
All the soldiers of Midian started to run. They cried out as they ran away.

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