John Gill Commentary Numbers 23:18

"And he took up his parable, and said, Rise up, Balak, and hear; Hearken unto me, thou son of Zippor:" — Numbers 23:18 (ASV)

And he took up his parable
Pronounced the word put into his mouth,

and said, rise up Balak, and hear ;
not from his seat, as Eglon a successor of his did, (Judges 3:20) for he was now standing by his burnt offering; but the sense is, that he would raise his attention, and stir up himself with all diligence to hear what he was about to say:

hearken unto me, you son of Zippor ;
or to his word, as the Targums of Onkelos and Jonathan, which follow.