When Moses entered the Tent of Meeting to speak with the LORD, he heard the voice speaking to him from between the two cherubim above the mercy seat on the ark of the Testimony. Thus the LORD spoke to him.
Jewish Publication Society of America Version (JPS1917) - Numbers 7:89 >And when Moses went into the tent of meeting that He might speak with him, then he heard the Voice speaking unto him from above the ark-cover that was upon the ark of the testimony, from between the two cherubim; and He spoke unto him.