Numbers 10:25-36 ESV
Then the standard of the camp of the people of Dan, acting as the rear guard of all the camps, set out by their companies, and over their company was Ahiezer the son of Ammishaddai. And over the company of the tribe of the people of Asher was Pagiel the son of Ochran. And over the company of the tribe of the people of Naphtali was Ahira the son of Enan. This was the order of march of the people of Israel by their companies, when they set out.
And Moses said to Hobab the son of Reuel the Midianite, Moses’ father-in-law, “We are setting out for the place of which the LORD said, ‘I will give it to you.’ Come with us, and we will do good to you, for the LORD has promised good to Israel.” But he said to him, “I will not go. I will depart to my own land and to my kindred.” And he said, “Please do not leave us, for you know where we should camp in the wilderness, and you will serve as eyes for us. And if you do go with us, whatever good the LORD will do to us, the same will we do to you.”
So they set out from the mount of the LORD three days’ journey. And the ark of the covenant of the LORD went before them three days’ journey, to seek out a resting place for them. And the cloud of the LORD was over them by day, whenever they set out from the camp.
And whenever the ark set out, Moses said, “Arise, O LORD, and let your enemies be scattered, and let those who hate you flee before you.” And when it rested, he said, “Return, O LORD, to the ten thousand thousands of Israel.”
ESV: English Standard Version 2016