John Gill Commentary Numbers 10:12

"And the children of Israel set forward according to their journeys out of the wilderness of Sinai; and the cloud abode in the wilderness of Paran." — Numbers 10:12 (ASV)

And the children of Israel took their journeys out of the
wilderness of Sinai
Each of their camps removed from thence, and so everyone took their journey;

and the cloud rested in the wilderness of Paran ;
which was a signal for the camps to rest and pitch their tents; this was after they had gone three days journey, and were come to Taberah, which, it is probable, was in the wilderness of Paran; otherwise we read of their pitching in the wilderness of Paran, after they had been a month at Kibrothhattaavah, (Numbers 11:34Numbers 11:35) , and seven days at Hazeroth, (Numbers 12:16) ; so they went from one wilderness to another; of this wilderness, (See Gill on Genesis 21:21).