God sent His angel to accompany Israel to Canaan.
As GOD concluded His initial message to Moses at Mount Sinai, after having spoken the Ten Commandments to all of Israel, GOD told Moses:
20 “Behold, I send My Angel before your face, to keep you in the way and to bring you into the land I prepared for you. 21 Listen to Him and obey His voice; do not provoke Him, for He will not pardon your transgressions; for My name is in Him. 22 But if you will indeed obey My voice and do all I command you and keep My covenant, you shall be My special people above all nations, for the whole earth is Mine; and you shall be a royal priesthood and a holy nation. You shall speak these words to the children of Israel; and if you shall indeed obey My voice and do all I tell you, I will be an enemy to your enemies and an adversary to your adversaries. 23 For My Angel will go before you and bring you in to the Amorites, the Hittites, the Perizzites, the Canaanites, the Gergesites, the Hivites, and the Jebusites; and I will cut them off.
(Exodus 23:20-23 OSB)
This Angel closely interacted with Israel throughout their exodus.
- The Angel, who was also divine, appeared to Moses at the burning bush as recorded in Exodus 3(:2).
- In Exodus 14(:19), the Angel moved from the front of Israel's pack to the back in order to protect Israel from the Egyptians who were in pursuit near the Red Sea.