Numbers 9:20

When the cloud {remained} a number of days on the tabernacle, on the {command of Yahweh} they encamped; and on the {command of Yahweh} 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 lifted, they did not set out until the day of its being lifted.
Numbers 9:16
So it was continually; the cloud would cover it and the appearance of fire [by] night.
Psalm 136:16
To [him who] led his people through the wilderness, for his loyal love [endures] forever.