עַל־פִּ֤י יְהוָה֙ יַחֲנ֔וּ וְעַל־פִּ֥י יְהוָ֖ה יִסָּ֑עוּ אֶת־מִשְׁמֶ֤רֶת יְהוָה֙ שָׁמָ֔רוּ עַל־פִּ֥י יְהוָ֖ה בְּיַד־מֹשֶֽׁה׃ (פ)
At the commandment of the LORD they encamped, and at the commandment of the LORD they journeyed; they kept the charge of the LORD, at the commandment of the LORD by the hand of Moses.
Read Kabbalistic (mystical) interpretations of Numbers 9:23: Zohar and classical Jewish mystical sources, free online.