Pharaoh let the people go. The shortest road from Goshen to Canaan went through the Philistine country. But God didn't lead them that way. God said, "If they have to go into battle, they might change their minds. They might return to Egypt."
References for Exodus 13:17
So God led the people toward the Red Sea by taking them on a road through the desert. The Israelites were prepared for battle when they went up out of Egypt.
Moses took the bones of Joseph along with him. Joseph had made the sons of Israel take an oath and make a promise. He had said, "I'm sure that God will come to help you. When he does, you must carry my bones up from this place with you."(Genesis 50:25)
The people left Succoth. They camped at Etham on the edge of the desert.
By day the LORD went ahead of them in a pillar of cloud. It guided them on their way. At night he led them with a pillar of fire. It gave them light. So they could travel by day or at night.
The pillar of cloud didn't leave its place in front of the people during the day. And the pillar of fire didn't leave its place at night.