جَاءَ زَيْدٌ رَاكِبًا.
Zayd came riding.
Jāʾa is a past-tense verb, Zaydun its subject, and rākiban an accusative circumstantial modifier. The modifier tells us Zayd's condition at the time of coming. It is not a second independent report to be coordinated with wāw.
The main predication is the arrival; riding qualifies the way that arrival occurred. This hierarchy explains the close grammatical and rhetorical attachment.