It doesn’t distinctly say in the text, but the Israelites finally take off on their journey. This starts with a celebration of the Passover on the fourteenth day of the first month of the second year after they came out of Egypt. So they spent that first year preparing and organizing how God’s presence would be mediated through the sacrificial system, and it is fitting the Passover is celebrated right before they take off, just as they did it in Egypt.
In their journey God guides them through a cloud that covers the Tent of Testimony. At night it looks like fire, which is appropriate because God is light, and is our light, their light. As John says, in Jesus was life and that life was the light of men, and that light shines in the darkness. When the cloud covers the tent, they are to stay put, and when it lifted they set out; wherever it settled they encamped. This could be for just a night, or a day, week, month or year. However God directed, they followed.
Since the Tent has to be dismantled and rebuilt every time they moved and stopped, the cloud must have come down where they were to encamp and then once it was rebuilt the cloud remained on it. As it says in the final verse:
23 At the Lord’s command they encamped, and at the Lord’s command they set out. They obeyed the Lord’s order, in accordance with his command through Moses.
Everything the Lord communicates to the Israelites comes through Moses, who clearly is a type of Christ. And God is leading them through the desert to get to the promised land, a land flowing with milk and honey. All they need do is follow him, not unlike God leading us through the desert of a fallen world, to the ultimate eternal promised land. All we need to do is follow him. The path is laid out for all to see, and for his chosen to take. As it says in Hebrews 7:25, that most Old Testament of New Testament books:
Therefore he is able to save completely those who come to God through him, because he always lives to intercede for them.