2 Samuel 17:22

Then David arose, and all the people that were with him, and they passed over Jordan: by the morning light there lacked not one of them that was not gone over Jordan.

Cross-reference

In 2 Samuel 17:24, David arrives in Mahanaim — the crossing in 17:22 immediately precedes that arrival.

2 Samuel 17:16 gives the urgent warning to cross the Jordan, which directly leads to the successful crossing.