Is this paragraph structured and worded in the best way?

Is this paragraph structured and worded in the best way? And should I add the "Upon their arrival at the camp"? FYI- The companions, the group, the seekers and the four friends are all the same people. After encountering a Sossrim patrol, the companions were brought to the hidden encampment of a large company under the command of the powerful druid Madislak Pemsk. (Upon their arrival at the camp), The group discovered that the scattered elements of the realm’s army were marching south to unify for a counteroffensive against the invaders. Once they learned of the seekers’ need to reach their allies in Thentia, the Sossrim agreed to allow them to travel with the company until a point where the druids could direct the four friends to hidden paths that would enable them to sneak past the dracolich’s army and westward into Damara.