Numbers 9:20

And when the cloud was continued over the tabernacle many days, the Israelites were to keep the watch of their God, and not remove. And such was to be the case when the cloud overshadowed the tabernacle but a few days. At the command of the Lord, they were to encamp; and at the command of the Lord, they were to march.

And it shall be, whenever the cloud overshadows the tabernacle a number of days, they shall encamp by the word of the Lord, and shall remove by the command of the Lord.