א וַיְדַבֵּר יְהֹוָה אֶל־מֹשֶׁה בְּמִדְבַּר סִינַי בְּאֹהֶל מוֹעֵד בְּאֶחָד לַחֹדֶשׁ הַשֵּׁנִי בַּשָּׁנָה הַשֵּׁנִית לְצֵאתָם מֵאֶרֶץ מִצְרַיִם לֵאמֹר׃
1:1 In the wilderness of Sinai, in the Tent of Meeting
After a stay of almost a year in the Sinai Desert where the people received the Torah, constructed the Mishkan and studied some of their new laws, Sefer Bamidbar opens with the preparations to leave the desert and head to the Promised Land. The Ramban explains that their entry into Eretz Yisrael with the Torah in hand was the ultimate goal of the exodus from Egypt. The Mishkan, where Hashem reveals Himself on a daily basis, will allow the people to carry the experience of revelation at Mount Sinai with them on their journey, and He will ultimately find His permanent resting place on earth in the Beit Hamikdash in Yerushalayim. In this way, God remains permanently in their midst.