Numbers 9:17
And when the cloud was taken up from the tabernacle, then after that the children of Israel journeyed: and in the place where the cloud abode, there the children of Israel pitched their tents.
Cross-reference
In Numbers 9:22, the same rule is elaborated: Israel only moves when the cloud lifts—directly expanding on the guidance described here.
Numbers 10:11 records the specific lifting of the cloud from the tabernacle, directly enacting the general rule in Numbers 9:17.
Numbers 10:34 explicitly notes the cloud covering them as they set out, a direct instance of the pattern described in 9:17.
In Numbers 33:2, Moses records the stages of the journey—the cloud's guidance determined those stages.
In Exodus 33:14, God promises His presence will go with them—the cloud is the visible manifestation of that guiding presence.
In Exodus 33:15, Moses insists on God's presence—the same presence that leads Israel via the cloud in Numbers 9:17.
Exodus 40:36-38 establishes the same cloud-guidance system; Numbers 9:17 rehearses it with added detail about the pattern.
Psalm 136:16 celebrates God leading His people through the wilderness—the same divine guidance shown by the cloud in Numbers 9:17.