# So the soldiers obeyed their orders
The word "so" marks an event that happened because of something else that happened previously. In this case, the previous event is the chief captain's commanding the soldiers to escort Paul.
# They took Paul and brought him by night
"They got Paul and took him at night"
# Antipatris
Antipatris was a city built by Herod in honor of his father, Antipater. It stood at a site located today in central Israel.