‘ And Joshua spoke to the priests, saying, “Take up the Ark of the covenant and cross over before the people,” and they took up the Ark of the covenant, and went before the people.”
The stress here is on the fact that they moved forwards as the people of the covenant, in obedience. When they go into battle it will be following ‘the Ark of Yahweh', but here it is with ‘the Ark of the Covenant'. Note the emphasis on obedience. ‘Take up ----- they took up.' The swollen river lay before them but they did what they were bid.