Numbers 10:36

And when it rested, he said, Return, O LORD, unto the many thousands of Israel.

When the ark and the cloud rested from marching and Israel halted, Moses invoked the Lord to return to the many thousands of Israel. His prayer when the ark came to rest asked God to abide with the people, expressing God's presence with them during their encampment. The halt was marked by this solemn prayer for God's presence, just as the departure was marked by a solemn prayer calling on the Lord to rise up and scatter His enemies.

God Himself directed all the travels and rests of Israel by the pillar of cloud, for His own glory and for the good of the people. Its descent and resting directly over the tabernacle showed the place of encampment and that they were to remain in camp until He would have them journey again. As the people halted and camped around the tabernacle under that direction, the tabernacle was erected at rest. Every tribe then pitched by its own standard in perfect order in its commanded position around the tabernacle at a distance, whereas on the march the ark of the covenant was borne before the people.