John Gill Commentary Acts 21:2

"and having found a ship crossing over unto Phoenicia, we went aboard, and set sail." — Acts 21:2 (ASV)

And finding a ship sailing over to Phoenicia
For it seems that the ship they went aboard at Assos (Acts 20:13) went no further, at least in the way the apostle was going, than Patara; but finding another ship, which was bound for Phoenicia, for the city of Tyre, which bordered on the land of Israel, and indeed originally belonged to Canaan; see (Acts 11:19) .

we went aboard;
the ship:

and set sail;
on the voyage.