John Gill Commentary Numbers 33:1

"These are the journeys of the children of Israel, when they went forth out of the land of Egypt by their hosts under the hand of Moses and Aaron." — Numbers 33:1 (ASV)

These are the journeys of the children of Israel
which are related in the following chapter:

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

with their armies ;
in great numbers, and in an orderly manner, in rank and file, and like so many squadrons, see (Exodus 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.