Exodus 13:17-21

Now when Pharaoh had let the people go, God did not lead them by the way of the land of the Philistines, even though it was near; for God said, “The people might change their minds when they see war, and return to Egypt.”

Therefore God led the people around by way of the wilderness to the Red Sea; and the sons of Israel went up in battle formation from the land of Egypt.

And Moses took the bones of Joseph with him, for he had made the sons of Israel solemnly swear, saying, “God will certainly take care of you, and you shall carry my bones from here with you.”

Then they set out from Succoth and camped in Etham, on the edge of the wilderness.

And the Lord was going before them in a pillar of cloud by day to lead them on the way, and in a pillar of fire by night to give them light, so that they might travel by day and by night.