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

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

Numbers 33:1

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.