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Core Rulebook / Chapter 10: Game Mastering / Running Modes of Play / Exploration / Rolling Initiative

Character Placement

Source Core Rulebook pg. 499 4.0
When calling for initiative for a combat encounter, you’ll need to decide where the participants in the encounter go on the battle map. Use the party’s order, described on page 497, as a base. You can move forward characters who are using Stealth to get into position, putting them in a place they could reasonably have moved up to before having a chance to be detected. Consult with each player to make sure their position makes sense to both of you.