2 Samuel 24:20

And Araunah looked, and saw the king and his servants coming on toward him: and Araunah went out, and bowed himself before the king on his face upon the ground.

Cross-reference

1 Chronicles 21:20 reveals that Ornan (Araunah) had just seen the angel and hid — adding context to why he was watching for David's approach.

1 Chronicles 21:21 is the parallel account of the same scene — Ornan looks up, sees David, and bows, just as here.