Sifrei Bamidbar 82

(Bamidbar 10:33) "And they journeyed from the mountain of the L-rd a journey of three days": Is it not written (Devarim 1:2) "eleven days from Chorev .. until Kadesh Barnea"? What, then, is the intent of "And they journeyed … a journey of three days"? They traveled on that day a three-day journey, and the Shechinah preceded them, so that they could enter the land immediately. [It is the way of men who go to war, that when they start, they rejoice, and the longer they exert themselves the more they weaken. Not so, however, with Israel — the more they exert themselves, the more they rejoice, and they say "Let us go and inherit Eretz Yisrael," viz. (Joshua 4:10) "And the people hastened and they crossed" (the Jordan). Our fathers said: Once they sinned, it was decreed against them (Bamidbar 14:29) "In this desert will your carcasses fall." But we will not sin and die; we will go and inherit Eretz Yisrael!"] (Bamidbar 10:33) "And the ark of the covenant of the L-rd preceded them." This ark that preceded them contained the broken tablets, but the ark containing the tablets moved in the midst of the encampments, as it is written (Bamidbar 14:44) "and the ark of the covenant of Moses and the L-rd did not stir from the midst of the camp." R. Shimon b. Yochai says: It is not written "And the ark of the L-rd," but "and the ark of the covenant of the L-rd." An analogy: A viceroy precedes his army to prepare a camp ground for them; thus does the Shechinah precede Israel. "to look out a resting place for them": This is the intent of (Bamidbar 21:1) "And the Canaanite heard, the king of Arad, that Israel was coming by way of Atharim, etc.": When they heard that Aaron had died, they said: "The high-priest has died and their great Lookout has gone, and the pillar of cloud that waged war for them — this is the time to go and fight them." R. Shimon b. Yochai says: It was a great degradation for Israel to say (Devarim 1:22) "Let us send out men before us and let them spy out the land for us." The L-rd said to them: If when you were in "a land of desert and pit," I looked out the way for you, how much more so, when you are entering a good, broad land, a land flowing milk and honey!