The LORD instructs Moses to make two silver trumpets. Then the children of Israel break camp and set out for the first time in the order assigned to the tribes and according to the instructions God has given for carrying all of the things. They spent over a year at Sinai and finally moving on.

Numbers 10 

The LORD spoke to Moses, saying:

2 “Make two trumpets of silver; of hammered work you shall make them: that you may use them for the calling of the assembly, and for breaking camp.

3 When they shall blow with them, all the assembly shall assemble themselves before you at the door of the tent of meeting.

4 But if they blow only one trumpet, then the princes, which are heads of the thousands of Israel, shall gather themselves to you.

5 When you blow an alarm, then the camps that lie on the east side shall go forward.

6 When you blow an alarm the second time, then the camps that lie on the south side shall take their journey: they shall blow an alarm for their journeys.

7 But when the congregation is to be gathered together, you shall blow long blasts but not sound an alarm.

8 The sons of Aaron, the priests, shall blow the trumpets; and they shall be to you for an ordinance forever throughout your generations.

9 And if ye go to war in your land against the enemy that attacks you, then you shall blow an alarm with the trumpets; you shall be remembered before the LORD your God, and you shall be saved from your enemies.

10 Also in the day of your gladness, and in your solemn days, and in the beginnings of your months, you shall blow with the trumpets over your burnt offerings, and over the sacrifices of your peace offerings; that they may be to you for a memorial before your God: I am the LORD your God.”

11 On the 20th day of the second month, in the second year, the cloud was taken up from off the tabernacle of the testimony.

12 And the children of Israel took their journeys out of the wilderness of Sinai; and the cloud rested in the wilderness of Paran.

13 They set out for the first time according to the commandment of the LORD by the hand of Moses.

14 In the first place went the standard of the camp of the children of Judah according to their armies: and over his host was Nahshon the son of Amminadab.

15 Over the host of the tribe of the children of Issachar was Nethaneel the son of Zuar.

16 Over the host of the tribe of the children of Zebulun was Eliab the son of Helon.

17 And the tabernacle was taken down; and the sons of Gershon and the sons of Merari set forward, carrying the tabernacle.

18 Then the standard of the camp of Reuben set forward according to their armies: and over his host was Elizur the son of Shedeur.

19 Over the host of the tribe of the children of Simeon was Shelumiel the son of Zurishaddai.

20 Over the host of the tribe of the children of Gad was Eliasaph the son of Deuel.

21 And the Kohathites set forward, carrying the holy things: the tabernacle was to be set up before their arrival. 

22 Then the standard of the camp of the children of Ephraim set forward according to their armies: and over his host was Elishama the son of Ammihud.

23 Over the host of the tribe of the children of Manasseh was Gamaliel the son of Pedahzur.

24 Over the host of the tribe of the children of Benjamin was Abidan the son of Gideoni.

25 Then the standard of the camp of the children of Dan set forward, which was the at the rear of all the camps throughout their hosts: and over his host was Ahiezer the son of Ammishaddai.

26 Over the host of the tribe of the children of Asher was Pagiel the son of Ocran.

27 Over the host of the tribe of the children of Naphtali was Ahira the son of Enan.

28 This was the journey of the children of Israel according to their armies, when they set forward.

29 Moses said to Hobab, the son of Raguel the Midianite, Moses’ father in law, “We are setting out for the place of which the LORD said ‘I will give it you.’ Come with us, and we will do you good: for the LORD has spoken good concerning Israel.”

30 But he answered him “I will not go; but I will depart to my own land, and to my kindred.”

31 Moses said “Please do not leave us; since you know how we are to encamp in the wilderness, and you may be like eyes to us.

32 And it shall be, if you go with us, yes, it shall be that what goodness the LORD shall do unto us, the same we will do for you.” .

33 They departed from the mount of the LORD three days’ journey: and the ark of the covenant of the LORD went before them in the three days’ journey, to search out a resting place for them.

34 And the cloud of the LORD was over them by day, when they went out of the camp.

35 When the ark set forward, Moses said “Rise up, LORD, and let your enemies be scattered; and let them that hate you flee before your presence.”

36 And when it rested, he said “Return, O LORD, to the many thousands of Israel.”

See also: Numbers 10 in ESV, HCSB, NASB and NIV via Bible Gateway.