Numbers 10:11, 33-34

On the twentieth day of the second month in the second year [since leaving Egypt], the cloud [of the Lord’s presence] was lifted from over the tabernacle of the Testimony

So they set out from the mountain of the LORD (Sinai) three days’ journey; and the ark of the covenant of the LORD went in front of them during the three days’ journey to seek out a resting place for them. The cloud of the LORD was over them by day when they set out from the camp.