2 Samuel 14:23

So Joab arose and went to Geshur, and brought Absalom to Jerusalem.

Joab acted under David's command when he arose and went to Geshur to bring Absalom back to Jerusalem. That journey was the carrying out of the king's order for Absalom's return from exile. It formed part of the attempted reconciliation between father and son. Joab's intervention to reconcile Absalom with David then gave Absalom the opportunity to lead his rebellion, and Joab afterward recognized his own reconciling efforts as having enabled that disaster.