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the tabernacle of the testimony
The tent that housed the ark (a box) with the 10 commandments carved in stone inside it
our fathers, under Joshua, received the tabernacle and brought it with them
The phrase "under Joshua" means that their ancestors did these things in obedience to Joshua's direction. AT: "our fathers, in accordance with Joshua's instructions, received the tabernacle and brought it with them"
God took the land from the nations and drove them out before the face of our fathers
This sentence tells why the ancestors were able to take possession of the land. AT: "God forced the nations to leave the land before the face of our fathers"
God took the land ... before the face of our fathers
Here "the face of our fathers" refers to the presence of their ancestors. Possible meanings are 1) "As our ancestors watched, God took the land from the nations and drove them out" or 2) "When our ancestors came, God took the land from the nations and drove them out" (See: rc://en/ta/man/translate/figs-metonymy)
the nations
This refers to the people who lived in the land before Israel. AT: "the people who previously lived here" (See: rc://en/ta/man/translate/figs-metonymy)
drove them out
"forced them to leave the land"
a dwelling place for the God of Jacob
"a house for the ark where the God of Jacob could stay." David wanted a permanent place for the ark to reside in Jerusalem, not in a tent.