What procedure did Yisrael follow when Yisrael needed to travel?
Rashi (citing the Sifri) and Targum Yonasan (later, on 9:35): When Yisrael needed to travel, the Pillar of Cloud folded and hovered above the camp of Yehudah in the form of a beam, the Kohanim 1 blew Teki'ah, Teru'ah, Teki'ah. The camp of Yehudah did not move however, until Moshe Davened "Kumah Hashem ... ". 2
And what was the procedure when the time came to encamp?
Rashi (citing the Sifri) and Targum Yonasan (later, on 10:36): When the time came to encamp, the Pillar of Cloud piled up and hovered above the camp of Yehudah like a Succah. However, it did not spread out over the entire camp of Yisrael until Moshe announced "Shuvah Hashem ... ". 1
See later 10:36. All this is in compliance with Pasuk 23, "al-Pi Hashem be'Yad Moshe".