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Who did “וַיֹּצִאֵנוּ” in Num. 20:16?

Chukas 20:16: וַנִּצְעַק אֶל ה׳ וַיִּשְׁמַע קֹלֵנוּ וַיִּשְׁלַח מַלְאָךְ וַיֹּצִאֵנוּ מִמִּצְרָיִם…‏ In translation: and we called out to God, and he heard our voice, and he sent ...