Rashi on TanakhNumbers 2

With the insignia. Each banner shall have [as] its insignia a colored cloth hanging from it. Each one’s color was not like the other’s, each color corresponded with the hue of its gem set in the breastplate. Thusly, everyone could recognize his banner. Another interpretation [of] “with the insignia of their fathers’ houses”; By the sign their forefather Yaakov gave them when they carried him from Egypt [for burial in Canaan], as it is said, “And his sons did to him just as he had commanded them” [Bereishis, 50:12]. ‘Yehudah, Yissachar, and Zevulun shall carry him from the east, Reuven, Shimon, and Gad from the south; etc.,’ as stated by Tanchuma to this portion.

At a distance: At the distance of a mil (2,000 amos, approximately 4,000 feet.) as stated in the Book of Joshua [3:4], ‘However, there should be a distance between you and it (the sacred ark) of two thousand amos’, To enable them to come on Shabbos. Moshe and Aharon and his sons and the Levites camped near it (the Mishkon).

In the forefront. Toward the side called קֶדֶם, the front. Which is this? This is the eastern side whereas the west is called אָחוֹר, the rear.

They travel first. When they see the cloud rise, the kohanim blow the trumpets and the camp of Yehudah departs first. When traveling, they move the way they camped; The Levites and the wagons at the center, the banner of Yehudah to the east, that of Reuven to the south, Ephraim's to the west, and Don’s to the north.

The Tent of Meeting shall travel. After those two banners.

Just as they camp, so shall they travel: As I explained, they traveled as they camped, each banner proceeding in its designated position.

In his place [literally “his hand”] In his place. Yet, the literal meaning, “his hand” is not out of context. One’s nearby area is called “at hand,” [i.e.,] adjacent, within hand’s reach. en son aise, at hand, in Old French.

With him [literally “above him”]. As Targum [Onkelos] translates, “the one near him.”