Numbers 9:20

If sometimes the cloud remained a few days over the tabernacle, according to the command of the Lord they remained camped. Then according to the command of the Lord they set out.

Treasury of Scripture Knowledge

Summary

And so it was, when the cloud was a few days upon the tabernacle; according to the commandment of the LORD they abode in their tents, and according to the commandment of the LORD they journeyed.

Bible References

General references

Exodus 40:37
but if the cloud was not taken up, then they did not set out until the day when it was taken up.
Numbers 9:16
So it was continuously; the cloud would cover it by day, and the appearance of fire by night.
Psalm 136:16
To Him who led His people through the wilderness,
For His lovingkindness is everlasting;