en_tn_lite_do_not_use/jdg/19/22.md

they were making their hearts glad

The phrase "making their hearts glad" is an idiom that means to have a good time with someone else. Alternate translation: "they were have a good time together" or "they were enjoying themselves" (See: rc://en/ta/man/jit/figs-idiom)

some men of ... surrounded the house

Some men stood on all sides of the house.

so we can know him

The phrase "know him" is a polite way of saying "have sexual relations with him." The men probably were not trying to be polite. (See: rc://en/ta/man/jit/figs-euphemism)