Numbers 10:12-14

Young's Literal Translation

¹² and the sons of Israel journey in their journeyings from the wilderness of Sinai, and the cloud doth tabernacle in the wilderness of Paran;

¹³ and they journey at first, by the command of Jehovah, in the hand of Moses.

¹⁴ And the standard of the camp of the sons of Judah journeyeth in the first [place], by their hosts, and over its host [is] Nahshon son of Amminadab.