The Lord directed the Israelites in all their travels through the wilderness. When it was for the good of the people and the glory of God that they should pitch their tents in a certain place and there abide, God signified His will to them by the pillar of cloud resting low directly over the tabernacle. And there it remained until God would have them journey again. Then the cloud of glory was lifted up high above the tabernacle, and then they journeyed again. SR 156.3
In all their journeyings they observed perfect order. Every tribe bore a standard, with the sign of their father's house on it, and every tribe was commanded to pitch by their own standard. And when they traveled the different tribes marched in order, every tribe under their own standard. When they rested from their journeyings, the tabernacle was erected, and then the different tribes pitched their tents in order, in just such a position as God commanded, around the tabernacle, at a distance from it. SR 157.1
When the people journeyed, the ark of the covenant was borne before them. “And the cloud of the Lord was upon them by day, when they went out of the camp. And it came to pass, when the ark set forward, that Moses said, Rise up, Lord, and let Thine enemies be scattered; and let them that hate Thee flee before Thee. And when it rested, he said, Return, O Lord, unto the many thousands of Israel.” SR 157.2