Albert Barnes Commentary 2 Samuel 24:20

"And Araunah looked forth, and saw the king and his servants coming on toward him: and Araunah went out, and bowed himself before the king with his face to the ground." — 2 Samuel 24:20 (ASV)

And his servants - In Chronicles it says his four sons, namely, David’s. It is very possible that David may have taken his sons with him, as well as his elders. Gad’s original narrative may have mentioned this circumstance, which the compiler of this chapter did not care to specify, and so used the general term his servants.