Moses
Numbers 9:23ESV·traditional attribution

At the command of the LORD they camped, and at the command of the LORD they set out. They kept the charge of the LORD, at the command of the LORD by Moses.

Matthew Henry Presbyterian @wholebiblehenry

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.

Commenting on Numbers 9:15-23

Jamieson-Fausset-Brown Reformed @jfbcommentary

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).

Commenting on Numbers 9:15-23

Geneva Bible Notes Reformed @genevanotes

At the commandment of the LORD they rested in the tents, and at the commandment of the LORD they journeyed: they kept the charge of the LORD, at the commandment of the LORD by the hand of Moses. (k) Under the charge and government of Moses.