Who does take Moses with him from Midian to Egypt?
Exodus 4:20 (ESV)
20So Moses took his wife and his sons and had them ride on a donkey, and went back to the land of Egypt. And Moses took the staff of God in his hand.
Moses takes his wife, Zipporah, and his sons with him. We read of Zipporah and Gershom in Exodus 2:21–22. Moses had another son, Eliezer (his name is mentioned in Exodus 18:4).
20 So Moses took his wife and his sons and had them ride on a donkey, and went back to the land of Egypt. And Moses took the staff of God in his hand.