So Barak called Zebulun and Naphtali together to Kedesh, and 10,000 men went up at his feet, and Deborah went up with him. Bible

“and 10,000 men.” In Judges 3, the Israelites defeated 10,000 Moabites with the help of God. Now, with the help of God, 10,000 Israelites defeat the Canaanites.

“went up at his feet.” This is an idiom. In this case it means behind him.

Commentary for: Judges 4:10