David saw that Saul had come out to seek his life. David was in the wilderness of Ziph at Horesh.
References for 1 Samuel 23:15
And Jonathan, Saul's son, rose and went to David at Horesh, and strengthened his hand in God.
And he said to him, "Do not fear, for the hand of Saul my father shall not find you. You shall be king over Israel, and I shall be next to you. 1Saul my father also knows this."
References for 1 Samuel 23:17
2And the two of them made a covenant before the LORD. David remained at Horesh, and Jonathan went home.
References for 1 Samuel 23:18
3Then the Ziphites went up to Saul at Gibeah, saying, "Is not David hiding among us in the strongholds at Horesh, on the hill of Hachilah, which is south of 4Jeshimon
References for 1 Samuel 23:19
Now come down, O king, according to all your heart's desire to come down, 5and our part shall be to surrender him into the king's hand."
References for 1 Samuel 23:20
And Saul said, 6"May you be blessed by the LORD, 7for you have had compassion on me
References for 1 Samuel 23:21
Go, make yet more sure. Know and see the place where his foot is, and who has seen him there, for it is told me that he is very cunning.
See therefore and take note of all the lurking places where he hides, and come back to me with sure information. Then I will go with you. And if he is in the land, I will search him out among all the thousands of Judah."
And they arose and went to Ziph ahead of Saul. Now David and his men were 8in the wilderness of Maon, 9in the Arabah to the south of 10Jeshimon.
References for 1 Samuel 23:24
And Saul and his men went to seek him. And David was told, so he went down to the rock and lived in the wilderness of Maon. And when Saul heard that, he pursued after David in the wilderness of Maon.
Saul went on one side of the mountain, and David and his men on the other side of the mountain. And David was hurrying to get away from Saul. As Saul and his men were closing in on David and his men to capture them,
a messenger came to Saul, saying, "Hurry and come, for the Philistines have made a raid against the land."
So Saul returned from pursuing after David and went against the Philistines. Therefore that place was called the Rock of Escape.
References for 1 Samuel 23:28
And David went up from there and lived in the strongholds of 11Engedi.
References for 1 Samuel 23:29