The implied information can be added. AT: "answer his charges against me" or "defend myself" or "argue my innocence with him" (See: [[rc://en/ta/man/translate/figs-explicit]])
"come together to trial." Here "court" is a place where people can come and a judge will settle disputes. "Coming together in court" is a metonym for going against each other in a court of law. AT: "confront each other before a judge" (See: [[rc://en/ta/man/translate/figs-metonymy]])
Here "lay his hand upon" means having power or authority over. AT: "take hold of both of us" or "have authority over both of us" (See: [[rc://en/ta/man/translate/figs-idiom]])