First, the holy God is now able to dwell among his people (15-16). The sacrificial system was given, so that God might dwell with his people. God has always longed to dwell among his people. Normally, this is impossible because God is extremely holy and human beings are born into sin. By nature he could not dwell in the hearts of sinners nor dwell among them. But God made a way. In the Old Testament era he made a way through the Tabernacle and the sacrificial system. The holy God could now dwell among his people. Second, God is leading the nation (17-23). When the cloud lifted, the Israelites set out on their journey. When the cloud settled, the Israelites encamped. Whenever God moved, the people moved with him. Whenever God commanded the people they responded. God was their guide. He was their shepherd.
Application: Lord, help me to closely follow your guidance in the path you have shown.
One Word: God is with us and he will lead...trust him and follow him