You can make it clear that they will cross the Jordan. AT: "We will cross over the Jordan ready to fight" (See: [[rc://en/ta/man/translate/figs-explicit]])
The land that the people were to receive as a permanent possession is spoken of as if it were an inheritance that they were to obtain. AT: "the portion of land that we will possess" (See: [[rc://en/ta/man/translate/figs-metaphor]])
# will remain with us
This idiom refers to ownership. AT: "will be ours" (See: [[rc://en/ta/man/translate/figs-idiom]])