‘And they journeyed from Kadesh, and encamped in mount Hor, in the edge of the land of Edom.'
The forty years being over Moses brought Israel back to Kadesh. This, as it were, re-established the journey from Egypt and discounted all that had gone between this and the last visit to Kadesh. The journey now began towards the eastern border of Canaan. This would take them round the Dead Sea and up its eastern side. Thus they set off from Kadesh and reached Mount Hor, which was near Moserah, on the border of the land of Edom. See for this 20:22.