Numbers 10:6

10:6 And when you blow an alarm the second time, then the camps that are located on the south side must begin to travel. An alarm must be sounded for their journeys.

Numbers 10:12-13

10:12 So the Israelites set out on their journeys from the wilderness of Sinai; and the cloud settled in the wilderness of Paran.

Judah Begins the Journey

10:13 This was the first time they set out on their journey according to the commandment of the Lord, by the authority of Moses.

Numbers 33:1-2

Wanderings from Egypt to Sinai

33:1 These are the journeys of the Israelites, who went out of the land of Egypt by their divisions under the authority of Moses and Aaron. 33:2 Moses recorded their departures according to their journeys, by the commandment of the Lord; now these are their journeys according to their departures.