Moshe quickly returned back home, and made preparations to leave Midyan. He received the blessings of his father-in-law. Moshe carrying his special staff, saddled his donkey, and together with Tzipporah and their two sons, Gershom and newborn Eliezer, set out for Egypt.
HaShem told Aharon that his brother Moshe was on the way back to Egypt and instructed him to go out to greet him. It was so many years since they last saw each other. Aharon ran to Moshe and embraced him. Now, it was time for business. Moshe updated his brother about his great mission and together they gathered the elders of Bnei Yisrael.