Exodus 13:16-22

16 And it shall be for a token upon thy hand, and for a memorial before thine eyes: That the LORD brought us out of Egypt with a strong hand.
17 And it came to pass when Pharaoh had let the people go that God did not lead them through the way of the land of the Philistines, although that was near; for God said, Lest peradventure the people repent when they see war, and they return to Egypt;
18 but God led the people round about through the way of the wilderness of the Red sea. And the sons of Israel went up armed out of the land of Egypt.
19 And Moses also took the bones of Joseph with him, who had made the sons of Israel swear, saying, God will surely visit you; and ye shall carry up my bones away from here with you.
20 And they took their journey from Succoth and encamped in Etham in the edge of the wilderness.
21 And the LORD went before them by day in a pillar of cloud to lead them in the way and by night in a pillar of fire to give them light that they might walk by day and by night.
22 He never took away the pillar of cloud by day nor the pillar of fire by night from before the people.