Numbers 10:11-13
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11 And it came to pass on the twentieth day of the second month, in the second year, that the cloud was taken up from off the tabernacle of the testimony.
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12 And the children of Israel took their journeys out of the wilderness of Sinai; and the cloud rested in the wilderness of Paran.
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13 And they first took their journey according to the commandment of the LORD by the hand of Moses.