encamp
Verb
Meaning
To form and occupy a camp; to prepare and settle in temporary habitations, as tents or huts; to halt on a march, pitch tents, or form huts, and remain for the night or for a longer time, as an army or a company traveling.
To form into a camp; to place in a temporary habitation, or quarters.
Source: Webster's dictionarySynonyms
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Examples
Can we go camping again this summer?
The circus tented near the town
The houseguests had to camp in the living room
Louis II ordered them to encamp on 2 July but no one reported on that day – not even the King.
After reconnoitring the English position, it was advised to Philip that the army should encamp and give battle the following day.
The twelve tribes of Israel encamp around the mountain, and on the third day Mount Sinai begins to smolder, then catches fire, and Yahweh speaks the Ten Commandments from the midst of the fire to all the Israelites, from the top of the mountain.