Numbers 9:20

Sometimes the cloud remained only a few days over the tabernacle, and in accordance with the command of the Lord they remained camped. Then at His command they set out.

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 was not taken up, then they did not journey on until the day when it was taken up.
Numbers 9:16
So it was continuously; the cloud covered it by day, and the appearance of fire by night.
Psalm 136:16

To Him who led His people through the wilderness,
For His lovingkindness endures forever;