He spake unto them in the cloudy pillar (see Exodus 33:9, "And it came to pass, as Moses entered into the tabernacle, the cloudy pillar descended, and stood at the door.; and the Lord talked with Moses").
They kept his testimonies, and the ordinance that he gave them. Moses was known as "the servant of the Lord" (Deuteronomy 34:5; Joshua 1:1, Joshua 1:2, etc.). He was "faithful in all his house, as a servant" (Hebrews 3:5).
Aaron was "the saint of the Lord" (Psalms 106:16). This general obedience was, however, departed from in some few instances (see the comment on Psalms 99:8).