Exodus 33:9-11

9And it came to pass, when Moses entered the tabernacle, that the pillar of cloud descended and stood at the door of the tabernacle, and the Lord talked with Moses.

10All the people saw the pillar of cloud standing at the tabernacle door, and all the people rose and worshiped, each man in his tent door.

11So the Lord spoke to Moses face to face, as a man speaks to his friend. And he would return to the camp, but his servant Joshua the son of Nun, a young man, did not depart from the tabernacle.