Adam Clarke on Joshua 6:23

Brought out Rahab, and her father, etc. - Rahab having been faithful to her vow of secrecy, the Israelites were bound by the oath of the spies, who acted as their representatives in this business, to preserve her and her family alive.

And left them without the camp - They were considered as persons unclean, and consequently left without the camp; (see Lev 13:46; Num 12:14). When they had abjured heathenism, were purified, and the males had received circumcision, they were doubtless admitted into the camp, and became incorporated with Israel.