Acts 21:1

And it came to pass, that after we were gotten from them, and had launched, we came with a straight course unto Coos, and the day following unto Rhodes, and from thence unto Patara:

Cross-reference

Acts 20:37 records the weeping and kissing before they accompanied Paul — the emotional farewell that precedes the departure in Acts 21:1.

Acts 20:38 describes the elders accompanying Paul to the ship — the action that leads directly into the launching in Acts 21:1.