The idiom "come upon us" means "happen to us." Alternate translation: "No harm will happen to us" or "no one will harm us" (See: [[rc://en/ta/man/translate/figs-idiom]])
Here "see" is a metaphor for experience, and "sword" is a metonym for war. Alternate translation: "we will not experience war or famine" (See: [[rc://en/ta/man/translate/figs-metaphor]] and [[rc://en/ta/man/translate/figs-metonymy]])