This refers to the people moving to another location. AT: "to move to another location" (See: [[rc://en/ta/man/translate/figs-idiom]])
# cover the ark of the testimony with it
The word "it" refers to the curtain that separated the most holy place from the holy place.
# insert the poles
The poles were inserted into rings on the sides of the ark so that the poles could be used to carry the ark. This can be stated clearly. AT: "insert the poles into the rings on the ark's sides" (See: [[rc://en/ta/man/translate/figs-explicit]])