Numbers 9:20

and so when the cloud is a number of days over the tabernacle; by the command of Jehovah they encamp, and by the command of Jehovah they journey.

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
and if the cloud go not up then they journey not, until the day of its going up:
Numbers 9:16
so it is continually; the cloud covereth it, also the appearance of fire by night.
Psalm 136:16
To Him leading His people in a wilderness, For to the age is His kindness.