וַיִּסְע֖וּ בְּנֵ֣י יִשְׂרָאֵ֑ל וַֽיַּחֲנוּ֙ בְּעַֽרְב֣וֹת מוֹאָ֔ב מֵעֵ֖בֶר לְיַרְדֵּ֥ן יְרֵחֽוֹ׃ (ס)
Die Kinder Israel brachen dann auf und lagerten in den Steppen Moab, diesseits des Jordan vor Jericho.
Rashbam on Numbers
מעבר לירדן יריחו, meaning opposite the Jordan river and Jericho which was on the other bank of the river, i.e. it as neither south of nor north of Jericho. The formulation of מעבר לירדן is justified as it is perceived from the vantage point of those who had in the meantime (before they would read this) crossed the river, so that the river Jordan was on the far side of Jericho from their point of view.
Rav Hirsch on Torah
Kap. 22. V. 1. ירדן ירחו ,לירדן ירחו ist der Jericho gegenüber fließende Jordan. So auch לירדנה דיריחא :ת׳׳א.
Chizkuni
ויסעו בני ישראל, “The Children of Israel resumed journeying;” after the victory of the men over Og and his army they brought their wives and children to encamp on the east bank of the Jordan river in the region between the rivers Arnon and Yabok.