Exodus 13:18-22

So God led the people on the wilderness road, looping around to the Red Sea. The Israelites left Egypt in military formation. Moses took the bones of Joseph with him, for Joseph had made the Israelites solemnly swear to do it, saying, “God will surely hold you accountable, so make sure you bring my bones from here with you.” They moved on from Succoth and then camped at Etham at the edge of the wilderness. GOD went ahead of them in a Pillar of Cloud during the day to guide them on the way, and at night in a Pillar of Fire to give them light; thus they could travel both day and night. The Pillar of Cloud by day and the Pillar of Fire by night never left the people.