18 At the LORD’s command the Israelites set out, and at his command they encamped. As long as the cloud stayed over the tabernacle, they remained in camp.

Read Numbers 9:18 Using Other Translations

At the commandment of the LORD the children of Israel journeyed, and at the commandment of the LORD they pitched: as long as the cloud abode upon the tabernacle they rested in their tents.
At the command of the LORD the people of Israel set out, and at the command of the LORD they camped. As long as the cloud rested over the tabernacle, they remained in camp.
In this way, they traveled and camped at the LORD ’s command wherever he told them to go. Then they remained in their camp as long as the cloud stayed over the Tabernacle.