EDIT: A little background to the question for people saying scouting (and to clarify why I initially posted). This was my first thought as well, but in reading about Roman history, I’d found out that they were notoriously bad at scouting, as it was something that they felt was below them (and it cost them at Lake Trasimene). Thats when I realized I had no idea how these armies would actually find each other
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Normally the armies were marching to attempt to take a city so the opposing army used mounted scouts to find out which of the limited number of paths the other army was using to get to the city and then put their forces in the way, if this failed a siege of the target took place with the other army marching to relive the city.
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