Numbers 2:2

באתת [EVERY MAN OF THE CHILDREN OF ISRAEL SHALL ENCAMP BY HIS OWN STANDARD] WITH THE SIGNS [OF THEIR FATHERS’ HOUSES] — Each banner shall have a different sign — a piece of coloured cloth hanging on it, the colour of the one not being the same as the colour of another, but the colour of each tribe shall be like that of his stone that is fixed in the breastplate (of. Exodus 28:21), and by this means everybody will be able to recognise his banner . Another explanation of באתת לבית אבתם is: by the signs (i.e., following the signs) which their father Jacob gave them severally when they carried him out from Egypt, as it is said, (Genesis 50:12) “And his sons did unto him exactly as he had commanded them”. For he had commanded that Judah, Issachar and Zebulun should carry him, having their position at the east side of the bier, Reuben, Simeon and Gad at the south side, etc., — as it is related in Tanchuma on this section (Midrash Tanchuma, Bamidbar 12; cf. Rashi on Genesis 50:12). מנגד AT SOME DISTANCE [AROUND THE APPOINTED TENT THEY SHALL ENCAMP] — at a distance of a mile (2000 cubits), for it is said, (Joshua 3:4) “Yet there shall be between you (the Israelites) and it (the Ark), about two thousand cubits”; the reason for this distance, which was that of a Sabbath day’s journey, was that they might be able to come unto the vicinity of the Tabernacle for instruction on Sabbath, for Moses, Aaron and his sons and the Levites were encamped quite close to it (Bemidbar Rabbah 2:9; cf. Exodus 33:7 and Rashi thereon).

אִ֣ישׁ עַל־דִּגְל֤וֹ בְאֹתֹת֙ לְבֵ֣ית אֲבֹתָ֔ם יַחֲנ֖וּ בְּנֵ֣י יִשְׂרָאֵ֑ל מִנֶּ֕גֶד סָבִ֥יב לְאֹֽהֶל־מוֹעֵ֖ד יַחֲנֽוּ׃

Every man of the children of Yisra᾽el shall pitch by his own standard, with the ensigns of their father’s house: far off about the Tent of Meeting shall they pitch.