Numbers 9:17 (BSB)

Whenever the cloud was lifted from above the Tent, the Israelites would set out, and wherever the cloud settled, there the Israelites would camp.

From Numbers 9. Also in the ESV.

Commentary on Numbers 9:17

• John Calvin (Reformed), Calvin's Commentaries on Numbers 9:17: 17. And when the cloud was taken up from the tabernacle. Moses before informed us that the tabernacle was so distinguished by a visible miracle, that God made it manifest that He dwelt there: not that He left heaven and removed to that earthly house, but in order to be nigh to His people by the presence of His power and grace, whenever He was invoked by them.
• Matthew Henry (Presbyterian), Matthew Henry's Complete Commentary on Numbers 9:15-23: We have here the history of the cloud; not a natural history: who knows the balancings of the clouds? but a divine history of a cloud that was appointed to be the visible sign and symbol of God's presence with Israel. I.
• John Gill (Reformed Baptist), Exposition of the Old and New Testaments on Numbers 9:17: At the commandment of the Lord the children of Israel journeyed,.... Or "mouth of the Lord"; not that there was any command in form given, or any audible voice heard, directing when to march; but the removal of the cloud was interpretatively the order and command of God for them to move also: and at the commandment of the Lord they pitched; their tents; when...
• Jamieson-Fausset-Brown (Reformed), Commentary Critical and Explanatory on the Whole Bible on Numbers 9:15-23: A CLOUD GUIDES THE ISRAELITES. (Num 9:15-23) the cloud covered the tabernacle--The inspired historian here enters on an entirely new subject, which might properly have formed a separate chapter, beginning at this verse and ending at Num 10:29 [CALMET]. The cloud was a visible token of God's special presence and guardian care of the Israelites (Exo 14:20; Psa 105:39).