וַיִּכְתֹּ֨ב מֹשֶׁ֜ה אֶת־מוֹצָאֵיהֶ֛ם לְמַסְעֵיהֶ֖ם עַל־פִּ֣י יְהוָ֑ה וְאֵ֥לֶּה מַסְעֵיהֶ֖ם לְמוֹצָאֵיהֶֽם׃
And Moses wrote their goings forth, stage by stage, by the commandment of the LORD; and these are their stages at their goings forth.
Read midrashic interpretation of Numbers 33:2: and classical rabbinic exegesis.