Keil & Delitzsch

God's walking in the midst of Israel does not refer to His accompanying and leading the people on their journeyings, but denotes the walking of God in the midst of His people in Canaan itself, whereby He would continually manifest Himself to the nation as its God and make them a people of possession, bringing them into closer and closer fellowship with Himself, and giving them all the saving blessings of His covenant of grace.