Numbers 10:11-21

11In the second year, in the second month, on the twentieth day of the month, the cloud lifted from over the tabernacle of the testimony,

12and the people of Israel set out by stages from the wilderness of Sinai. And the cloud settled down in the wilderness of Paran.

13They set out for the first time at the command of the Lord by Moses.

14The standard of the camp of the people of Judah set out first by their companies, and over their company was Nahshon the son of Amminadab.

15And over the company of the tribe of the people of Issachar was Nethanel the son of Zuar.

16And over the company of the tribe of the people of Zebulun was Eliab the son of Helon.

17And when the tabernacle was taken down, the sons of Gershon and the sons of Merari, who carried the tabernacle, set out.

18And the standard of the camp of Reuben set out by their companies, and over their company was Elizur the son of Shedeur.

19And over the company of the tribe of the people of Simeon was Shelumiel the son of Zurishaddai.

20And over the company of the tribe of the people of Gad was Eliasaph the son of Deuel.

21Then the Kohathites set out, carrying the holy things, and the tabernacle was set up before their arrival.