New King James Version (NKJV)
Numbers 9
20 So it was, when the cloud was above the tabernacle a few days: according to the command of the Lord they would remain encamped, and according to the command of the Lord they would journey.
21 So it was, when the cloud remained only from evening until morning: when the cloud was taken up in the morning, then they would journey; whether by day or by night, whenever the cloud was taken up, they would journey.
22 Whether it was two days, a month, or a year that the cloud remained above the tabernacle, the children of Israel would remain encamped and not journey; but when it was taken up, they would journey.
23 At the command of the Lord they remained encamped, and at the command of the Lord they journeyed; they kept the charge of the Lord, at the command of the Lord by the hand of Moses.
Numbers 10
1 And the Lord spoke to Moses, saying:
2 "Make two silver trumpets for yourself; you shall make them of hammered work; you shall use them for calling the congregation and for directing the movement of the camps.
3 When they blow both of them, all the congregation shall gather before you at the door of the tabernacle of meeting.
4 But if they blow only one, then the leaders, the heads of the divisions of Israel, shall gather to you.
5 When you sound the advance, the camps that lie on the east side shall then begin their journey.
6 When you sound the advance the second time, then the camps that lie on the south side shall begin their journey; they shall sound the call for them to begin their journeys.
7 And when the assembly is to be gathered together, you shall blow, but not sound the advance.