John Gill Commentary Joshua 6:11

"So he caused the ark of Jehovah to compass the city, going about it once: and they came into the camp, and lodged in the camp." — Joshua 6:11 (ASV)

So the ark of the Lord compassed the city
Being borne by the priests, who carried it round the city; it may as well be rendered and interpreted as it is by Kimchi, "he, i.e. Joshua, caused the ark of the Lord to compass the city;" that is, he gave orders to the priests to take it up, and go round with it on the first day:

going about [it] once ;
on that day, and no more; keeping at such a distance, as to be out of the reach of stones or arrows cast from the walls of the city:

and they came into the camp, and lodged in the camp ;
the night following; not only the priests that bore the ark, but those that blew with the trumpets, and all the armed men, and the people.