In this first session of this new series, we will introduce the subject by reading and discussing verses from the book of Bemidbar that relate in general the manner in which Bnei Yisrael knew when to travel and when to stay encamped in place. Then we will read about the very first travel of Bnei Yisrael from Har Sinai, and the unreported rebellion that took place almost immediately, according to the gemara in Masechet Shabbat.
For your convenience I have attached here the sources for this session.