After defeating the armies of the five kings, Joshua ordered that the five kings themselves be brought from the cave in which they had been trapped (verse 16-18). In the presence of all the Israelite soldiers, Joshua ordered the officers who had taken part with him in the campaign to place their feet on the necks of the prostrate kings. As commentators point out, this gesture of domination was widespread at that time (see 1 Kgs 5.3, Revised Standard Version; Psa 110.1).

Then Joshua said may be translated more specifically as “Then Joshua commanded his men.”

Inasmuch as the break between verses 23 and 24 comes at an unusual place, the two verses may be translated as a unit. Moreover, the two passive verbs (was opened and were brought out) may be translated into active constructions: “So Joshua’s men opened the cave and brought to Joshua the kings of Jerusalem, Hebron, Jarmuth, Lachish, and Eglon.”

The officers who had gone with him may imply that some officers had not gone with Joshua. To translate “his (or, their) officers” would avoid this wrong implication.

Quoted with permission from Bratcher, Robert G. and Newman, Barclay M. A Handbook on Joshua. (UBS Helps for Translators). New York: UBS, 1983. For this and other handbooks for translators see here .