Exodus 6:5

Now it happened in the course of those many days that the king of Egypt died. And the sons of Israel sighed because of the slavery, and they cried out; and their cry for help because of their slavery rose up to God.

So God heard their groaning; and God remembered His covenant with Abraham, Isaac, and Jacob.

But the king of Egypt said to them, “Moses and Aaron, why do you draw the people away from their work? Get back to your hard labors!”

Then Moses said to Hobab the son of Reuel the Midianite, Moses’ father-in-law, “We are setting out to the place of which Yahweh said, ‘I will give it to you’; come with us and we will do you good, for Yahweh has promised good concerning Israel.”