The Israelites traveled on and camped in the plains of Moab near the Jordan across from Jericho.
References for Numbers 22:1
Now Balak son of Zippor saw all that Israel had done to the Amorites.
References for Numbers 22:2
Moab was terrified of the people because they were numerous, and dreaded the Israelites.
So the Moabites said to the elders of Midian, "This horde will devour everything around us like an ox eats up the green plants in the field." Since Balak son of Zippor was Moab's king at that time,
he sent messengers to Balaam son of Beor at Pethor, which is by the Euphrates in the land of his people. Balak said to him: "Look, a people has come out of Egypt; they cover the surface of the land and are living right across from me.
References for Numbers 22:5
Please come and put a curse on these people for me because they are more powerful than I am. I may be able to defeat them and drive them out of the land, for I know that those you bless are blessed and those you curse are cursed."