"They journeyed from Rephidim and came to the wilderness of Sinai" (Exodus 19:2). But has it not already been said, "On this day they came to the wilderness of Sinai"? Rather, Scripture compares their journeying from Rephidim to their coming to the wilderness of Sinai: just as their coming to the wilderness of Sinai was in repentance, so too their journeying from Rephidim was in repentance.
Leaving Rephidim and Reaching Sinai Both in Repentance
Yalkut Shimoni on Torah 275:1
וַיִּסְעוּ מֵרְפִידִים וַיָּבֹאוּ מִדְבַּר סִינַי, וַהֲלֹא כְּבָר נֶאֱמַר בַּיּוֹם הַזֶּה בָּאוּ מִדְבַּר סִינָי, אֶלָּא הִקִּישׁ נְסִיעָתָן מֵרְפִידִים לְבִיאָתָן מִדְבַּר סִינַי, מַה בִּיאָתָן לְמִדְבַּר סִינַי בִּתְשׁוּבָה, אַף נְסִיעָתָן מֵרְפִידִים בִּתְשׁוּבָה.