Numbers 33:3 (BSB)

On the fifteenth day of the first month, on the day after the Passover, the Israelites set out from Rameses. They marched out defiantly in full view of all the Egyptians,

From Numbers 33. Also in the ESV.

Commentary on Numbers 33:3

• John Calvin (Reformed), Calvin's Commentaries on Numbers 33:3: 3 And they departed from Rameses. I do not approve of their opinion, who think that the name of this city is used for the whole land of Goshen: since it is not reasonable that they should have set forth at the same time from various distant and remote places.
• John Gill (Reformed Baptist), Exposition of the Old and New Testaments on Numbers 33:3: And they departed from Rameses,.... A city in Egypt, where the children of Israel, a little before their departure, seem to have been gathered together in a body, in order to march out all together, as they did. This place the Targum of Jonathan calls Pelusium. Dr.
• Jamieson-Fausset-Brown (Reformed), Commentary Critical and Explanatory on the Whole Bible on Numbers 33:3: Rameses--generally identified with Heroopoils, now the modern Abu-Keisheid (see on Exo 12:37), which was probably the capital of Goshen, and, by direction of Moses, the place of general rendezvous previous to their departure.
• Keil & Delitzsch (Lutheran), Biblical Commentary on the Old Testament on Numbers 33:1-15: Num 33:1-15 The first and second verses form the heading: “These are the marches of the children of Israel, which they marched out,” i.e., the marches which they made from one place to another, on going out of Egypt. מסּע does not mean a station, but the breaking up of a camp, and then a train, or march (see at Exo 12:37, and Gen 13:3). לצבאתם (see Exo 7:4).