All the conversation and scheming from verse 18 to 22 takes place after the brothers recognize Joseph in the distance and before he arrives where they are. Revised Standard Version translates the Hebrew connective as So, to introduce a consequence. We may also translate the opening of verse 23 as a contrast with Reuben’s purposes in verse 22; for example, “But when Joseph came to where his brothers were, they stripped him….”

Stripped him of his robe: stripped in this context means they “tore off,” “pulled off,” “ripped off” his robe. The long robe with sleeves should be translated as in Gen 37.3.

Quoted with permission from Reyburn, William D. and Fry, Euan McG. A Handbook on Genesis. (UBS Helps for Translators). New York: UBS, 1997. For this and other handbooks for translators see here .