Numbers 9:20

And so it was, when the cloud was a determined number of days upon the tabernacle, according to the commandment of the LORD they camped, and according to the commandment of the LORD they journeyed.

Treasury of Scripture Knowledge

Summary

And so it was, when the cloud was a few days upon the tabernacle; according to the commandment of the LORD they abode in their tents, and according to the commandment of the LORD they journeyed.

Bible References

General references

Exodus 40:37
but if the cloud did not lift itself up, then they did not journey until the day that it lifted itself up.
Numbers 9:16
So it was always: the cloud covered it, and the appearance of fire by night.
Psalm 136:16
To him who led his people through the wilderness: for his mercy endures for ever.