Numbers 10:11-24

Now in the second year, in the second month, on the twentieth of the month, the cloud was lifted from over the tabernacle of the testimony; and the sons of Israel set out on their journeys from the wilderness of Sinai. Then the cloud settled down in the wilderness of Paran. So they moved out for the first time according to the commandment of the LORD through Moses. The standard of the camp of the sons of Judah, according to their armies, set out first, with Nahshon the son of Amminadab, over its army, and Nethanel the son of Zuar, over the tribal army of the sons of Issachar; and Eliab the son of Helon over the tribal army of the sons of Zebulun. Then the tabernacle was taken down; and the sons of Gershon and the sons of Merari, who were carrying the tabernacle, set out. Next the standard of the camp of Reuben, according to their armies, set out with Elizur the son of Shedeur, over its army, and Shelumiel the son of Zurishaddai over the tribal army of the sons of Simeon, and Eliasaph the son of Deuel was over the tribal army of the sons of Gad. Then the Kohathites set out, carrying the holy objects; and the tabernacle was set up before their arrival. Next the standard of the camp of the sons of Ephraim, according to their armies, was set out, with Elishama the son of Ammihud over its army, and Gamaliel the son of Pedahzur over the tribal army of the sons of Manasseh; and Abidan the son of Gideoni over the tribal army of the sons of Benjamin.