Numbers 9:17-18

9:17 Whenever the cloud was taken up from the tabernacle, then after that the Israelites would begin their journey; and in whatever place the cloud settled, there the Israelites would make camp. 9:18 At the commandment of the Lord the Israelites would begin their journey, and at the commandment of the Lord they would make camp; as long as the cloud remained settled over the tabernacle they would camp.