Numbers 10:11-13

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.