How did Israel know when to move the tabernacle in the wilderness?
Israel knew to move the tabernacle when the Shekinah glory lifted and moved from it. As the glory departed, they took down the tabernacle and followed where it went, indicating God's leading. This visible sign of God's presence directed their journeys in the wilderness, so the tabernacle was dismantled and transported only at the glory's movement.
Les explains that after God gave Moses instructions for building the tabernacle and it was finished in the wilderness of Sinai, the Shekinah glory came down upon it. This glory served as the signal: whenever it lifted and moved, the Israelites took down the tabernacle and followed it. This practice was part of the giving of the Law to Israel, and they carried the tabernacle with them after the 40 years of wilderness into the Promised Land. Eventually it sat as a temporary tent north of Jerusalem until God gave David and then Solomon permission to build a permanent dwelling, Solomon's Temple. Les notes the Law was given only to Israel, though it covered the whole human race.