“I led you for forty years in the Wilderness, your garment did not wear out from on you, and your shoe did not wear out from on your foot.”
— Devarim/Deuteronomy 29:4
R. Eliezer asked R. Simeon, saying to him, “When the children of Israel went out of Egypt, did weavers’ gear go out with them?” R. Simeon replied, “No.”
“Then how did they clothe themselves during those forty years?”
R. Simeon replied, “With garments that the ministering angels gave them.”
“But did not their garments wear out?” …
…When Israel saw how the Holy One led them, made their garments white, and refreshed them in the wilderness, they began to sing in praise as they said,” “The Lord is my shepherd; I shall not want. He maketh me to lie down in green pastures” (Ps. 23:102).
This long tale of Israel and their desert clothing is taken from Bialik and Ravnitzky Sefer Ha-Aggadah [Book of Legends — see Source Materials for full citations and links]. It’s based on Deut. Rabbah 7:11 and other sources. For the remainder of the midrash, see #11-26 on this Masei 5763 source sheet (PDF). The source sheet also contains other midrashim about the desert experience.