Numbers 10:33-34
The ark of the covenant of the Lord went before them three days’ journey, to seek out a resting place for them. And the cloud of the Lord was over them by day, whenever they set out from the camp.

The presence of the Lord gives rest to His people.

There is much focus in Leviticus and Numbers on regulations of sacrifice and ceremonial purity. Some of these regulations may seem strange and somewhat severe to the New Covenant believer. It helps to remember that these are object lessons, highlighting the holiness of the Lord while also pointing to His merciful provision for His people to draw near to him despite their weakness and their tendency to sin.

In this passage, the reference to rest is a demonstration of God’s kindness to His people. It is also a sign pointing forward to the rest that God has made available to us in Jesus in this age, and that will be fully accomplished in the age to come – the sabbath rest of the children of God.