They first went forward according to the commandment of Yahweh by Moses.
Referenced Verses
Num 9:23 : 23 At the commandment of Yahweh they encamped, and at the commandment of Yahweh they traveled. They kept Yahweh's command, at the commandment of Yahweh by Moses.
Deut 1:6 : 6 "Yahweh our God spoke to us in Horeb, saying, You have lived long enough in this mountain: