Sędziów 5:13 Komentarz: Rashi, Metzudat David, Metzudat Zion & Radak

Dominated.יְרַד is similar to יִרְדֶה, "dominated,"²⁰יָרַד is translated as descended. יְרַד, however, means dominated. as in "to prostrate nations before him."²¹To give him dominion over them. (Yeshayah, 45:1.) The surviving Yisroelites dominated the mighty among the idolators.

Then: With the strengthening of the song and the salvation's intensification; then [in order that] those that remain of Israel will rule over the mighty of the nations, which is referring to the mighty nations,...

Meaning dominion as in Tehelim 110:2 "rule over your enemies."