וַיֵּ֨לֶךְ מֹשֶׁ֜ה וַיָּ֣שָׁב ׀ אֶל־יֶ֣תֶר חֹֽתְנ֗וֹ וַיֹּ֤אמֶר לוֹ֙ אֵ֣לְכָה נָּ֗א וְאָשׁ֙וּבָה֙ אֶל־אַחַ֣י אֲשֶׁר־בְּמִצְרַ֔יִם וְאֶרְאֶ֖ה הַעוֹדָ֣ם חַיִּ֑ים וַיֹּ֧אמֶר יִתְר֛וֹ לְמֹשֶׁ֖ה לֵ֥ךְ לְשָׁלֽוֹם׃
And Moses went and returned to Jethro his father-in-law, and said unto him: ‘Let me go, I pray thee, and unto my brethren that are in Egypt, and see whether they be yet alive.’ And Jethro said to Moses: ‘Go in peace.’
Rashi on Exodus
וישב אל יתר חתנו AND HE RETURNED TO JETHRO HIS FATHER-IN-LAW, to obtain his permission to go to Egypt, for he had sworn to him that he would not leave Midian except by his permission (Nedarim 65a). He is here called יתר and he had seven names: Reuel, Jether, Jethro, Keni, Hobab, Cheber and Putiel (cf. Mekhilta d'Rabbi Yishmael 18:2)
Rashbam on Exodus
וישב, he returned from the desert to his father-in-law Yitro.
Sforno on Exodus
אלכה נא ואשובה, in the interval I will leave my wife and children in your care.