Moses said to Hobab son of Reuel the Midianite, Moses’ father-in-law, “We are setting out to the place about which Adonai said, ‘I will give it to you.’ Come with us and we will do good to you, because Adonai has spoken goodness to Israel.”
So Bnei-Yisrael acted in accordance with all that Adonai had commanded Moses. Thus they camped by their standards and set out, each man according to their families and their ancestral houses.