Exodus 4:18-20

18Then Moses went away and returned to Jethro his father-in-law, and said to him, “Please, let me go back so that I may return to my relatives in Egypt, and see if they are still alive.” And Jethro said to Moses, “Go in peace.”

19Then 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.”

20So 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.