2 Samuel 24:2 (BSB)

So the king said to Joab the commander of his army, who was with him, “Go now throughout the tribes of Israel from Dan to Beersheba and register the troops, so that I may know their number.”

From 2 Samuel 24. Also in the ESV.

Commentary on 2 Samuel 24:2

• John Gill (Reformed Baptist), Exposition of the Old and New Testaments on 2 Samuel 24:2: For the king said to Joab the captain of the host, which was with him,.... Or who was with him, even Joab, who was now at court, and was a counsellor of David, as well as his general; or which army was with Joab, a standing army he had the command of: go now through all the tribes of Israel, from Dan even to Beersheba...
• Geneva Bible Notes (Reformed), Geneva Bible Study Notes on 2 Samuel 24:2: For the king said to Joab the captain of the host, which [was] with him, Go now through all the tribes of Israel, from Dan even to Beersheba, and number ye the people, that I may know the number of the people. (c) Because he did this to determine his power and to trust in it, it offended God, for otherwise it was lawful to number the people, .
• Keil & Delitzsch (Lutheran), Biblical Commentary on the Old Testament on 2 Samuel 24:2: 2Sa 24:2 David entrusted the task to his commander-in-chief Joab. אתּו אשׁר, “who was with him:” the meaning is, “when he was with him” (David). We are not warranted in attempting any emendations of the text, either by the expression אתּו אשׁר, or by the reading in the Chronicles, העם ועל־שׂרי (“and to the rulers of the people”); for whilst the latter reading may easily...