Joshua 24:25 - Joseph Benson’s Commentary on the Old and New Testaments

So Joshua made a covenant with the people that day Engaged them to make good this solemn profession, by renewing the covenant they had formerly entered into, both in the days of Moses and in his time, wherein they promised to worship God alone, and be obedient to him. Some think this covenant was now established by sacrifice, as it was when they came out of Egypt, (Exodus 24:4-5,) and when they came into Canaan, Joshua 8:31. But as there is no mention of an altar or any offering, so it is not likely that Joshua would offer any sacrifice but in the place which God had chosen, which was Shiloh.