Exodus 4:19-20

Then the LORD said to Moses in Midian, “Go back to Egypt, for all the men who were seeking your life [for killing the Egyptian] are dead.” [Ex 2:11, 12] So Moses took his wife [Zipporah] and his sons [Gershom and Eliezer] and seated them on donkeys, and returned to the land of Egypt. Moses also took the staff of God in his hand.