Numbers 14:14

14:14 then they will tell it to the inhabitants of this land. They have heard that you, Lord, are among this people, that you, Lord, are seen face to face, that your cloud stands over them, and that you go before them by day in a pillar of cloud and in a pillar of fire by night.

Matthew 1:23

1:23 “Look! The virgin will conceive and bear a son, and they will call him Emmanuel,” which means “God with us.”