Numbers 10:11-13

11Now it came to pass on the twentieth day of the second month, in the second year, that the cloud was taken up from above the tabernacle of the Testimony.

12And the children of Israel set out from the Wilderness of Sinai on their journeys; then the cloud settled down in the Wilderness of Paran.

13So they started out for the first time according to the command of the Lord by the hand of Moses.