Albert Barnes Commentary Numbers 20:16

"and when we cried unto Jehovah, he heard our voice, and sent an angel, and brought us forth out of Egypt: and, behold, we are in Kadesh, a city in the uttermost of thy border." — Numbers 20:16 (ASV)

An angel — See Genesis 12:7, note; Exodus 3:2, note. The term is to be understood as generally signifying the supernatural guidance Israel was under.