Numbers 9:20

And so when the cloud was a few days upon the tabernacle, according to the command of Jehovah they remained in their tents, and according to the command of Jehovah they pulled up stakes.

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 until the day that it was taken up.
Numbers 9:16
So it was always. The cloud covered it, and it looked like fire by night.
Psalm 136:16
To Him who led His people through the wilderness; for His mercy endures forever.