These are the journeys of the children of Israel,.... Which are related in this chapter following:

which went forth out of the land of Egypt: whither their fathers went and stayed, and were kept in hard bondage, but in due time were delivered from it, and came out from thence:

with their armies; in great numbers, and in an orderly manner, in rank and file, and like so many squadrons, see Exo 7:4, under the hand of Moses and Aaron: who were sent to the king of Egypt to require their dismission, and who were the instruments under God of their deliverance, and were the leaders of them; as of them out of Egypt, so through the wilderness, in their, several journeys here recorded.