Numbers 10:11-13
The Journey From Sinai to Kadesh
10:11 On the twentieth day of the second month, in the second year, the cloud was taken up from the tabernacle of the testimony.
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.