They camped at the LORD’s command, and they set out at the LORD’s command; they carried out the LORD’s charge according to His command through Moses.
Jewish Publication Society of America Version (JPS1917) - Numbers 9:23 >At the commandment of the LORD they encamped, and at the commandment of the LORD they journeyed; they kept the charge of the LORD, at the commandment of the LORD by the hand of Moses.