1 Samuel 24:5-7

5 After that, David thought that he had done something wrong. He felt sorry that he had cut a piece of cloth from Saul's coat. 6 David said to his men, ‘May the Lord not allow me to do anything wrong to my master. The Lord has chosen him to be Israel's king. I must never do anything to hurt him. He is the king that the Lord has chosen.’ 7 David spoke like this to stop his men from attacking Saul.

Then Saul left the cave and he started to travel along the road.