The five went back to Micah‘s chapel (Micah‘s house, Judges 18:18) and took the ephod, teraphim, etc., and brought them to the gate where the priest was talking to the 600 men.
SDA Bible Commentary (limited)
Volume 1-7
17. The five men. Meanwhile, the five scouts who had been in the houses before and knew their way around slipped away unobserved and stole the religious objects from Micah’s shrine.