13 When Joshua was by Jericho, he lifted up his eyes and looked, and behold, a man was standing before him with his drawn sword in his hand. And Joshua went to him and said to him, “Are you for us, or for our adversaries?” 14 And he said, “No; but I am the commander of the army of the Lord. Now I have come.” And Joshua fell on his face to the earth and worshiped and said to him, “What does my lord say to his servant?” 15 And the commander of the Lord's army said to Joshua, “Take off your sandals from your feet, for the place where you are standing is holy.” And Joshua did so.
6:1 Now Jericho was shut up inside and outside because of the people of Israel. None went out, and none came in. 2 And the Lord said to Joshua, “See, I have given Jericho into your hand, with its king and mighty men of valor. 3 You shall march around the city, all the men of war going around the city once. Thus shall you do for six days. 4 Seven priests shall bear seven trumpets of rams' horns before the ark. On the seventh day you shall march around the city seven times, and the priests shall blow the trumpets. 5 And when they make a long blast with the ram's horn, when you hear the sound of the trumpet, then all the people shall shout with a great shout, and the wall of the city will fall down flat, and the people shall go up, everyone straight before him.” 6 So Joshua the son of Nun called the priests and said to them, “Take up the ark of the covenant and let seven priests bear seven trumpets of rams' horns before the ark of the Lord.” 7 And he said to the people, “Go forward. March around the city and let the armed men pass on before the ark of the Lord.” (ESV)
There is ample parking in the adjacent Mead Road or other local roads that does not inconvenience local residents.