en_tn/num/25/06.md

brought among his family members a Midianite woman

It is implied that he brought her among his camp to have sex with her. The full meaning of this statement can be made clear. Alternate translation: "brought a Midianite woman to the Israelite camp to sleep with her" (See: rc://en/ta/man/jit/figs-explicit)

in the sight of Moses and all the community of the people of Israel

Here "in the sight of" is an idiom that means they heard about it, or found out about it. (See: rc://en/ta/man/jit/figs-idiom)