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After a short time
Probably at least two days had gone by. For that to be clear, it may be translated as, “After a few days” or, “A few days after the Israelites left Egypt.”
changed their minds
This phrase means, “began to think differently than they had before.” The Egyptians did not replace their minds, but made a decision that was not the same as the one they first made. They decided the Israelites should leave, but later decided that was the wrong choice and that they should have kept the Israelites as slaves. Some languages may not have this same expression, and will express the meaning in a direct way. (See: rc://en/ta/man/translate/figs-idiom)
So they
The connecting word "So" connects the result—the Egyptians chased after the Israelites, with the reason—the Egyptians wanted the Israelites to be their slaves again. (See: rc://en/ta/man/translate/writing-connectingwords)