Numbers 10:11-24

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, and the Israelites set out on their journey from the Wilderness of Sinai, and the cloud [of the LORD’S guiding presence] settled down in the Wilderness of Paran. So they moved out for the first time in accordance with the command of the LORD through Moses. The standard of the camp of the sons of Judah, according to their armies, moved out first, Nahshon the son of Amminadab was [commander] over its army, and Nethanel the son of Zuar was [commander] over the tribal army of the sons of Issachar; and Eliab the son of Helon was [commander] 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, moved out. Next the standard of the camp of the sons of Reuben, according to their armies, moved out, with Elizur the son of Shedeur [commander] over its army, and Shelumiel the son of Zurishaddai was [commander] over the tribal army of the sons of Simeon, and Eliasaph the son of Deuel was [commander] over the tribal army of the sons of Gad. Then the Kohathites moved out, carrying the holy things, and the tabernacle was set up before they arrived. Next the standard of the camp of the sons of Ephraim moved out, according to their armies, with Elishama the son of Ammihud [commander] over its army, and Gamaliel the son of Pedahzur was [commander] over the tribal army of the sons of Manasseh, and Abidan the son of Gideoni was [commander] over the tribal army of the sons of Benjamin.