Chabad.org — English translation + Rashi
Torah Temimah: “ובנחה יאמר שובה ה׳” — when the Aron rests, Moshe asks Hashem to return to the myriads of thousands of Israel.
English: “And when it rested he would say: Return, Hashem, to the myriads of thousands of Israel.”
Prayer at rest — settling is also marked by speech to Hashem.
Rest is not the absence of relationship; it is a request for Hashem’s presence among the multitudes.