While the name "Numbers" is descriptive of the book (two different censuses are recorded here), perhaps more descriptive would be the Hebrew name for it which translates to "in the wilderness". This is the record of the Israelites desert wanderings, where they receive both blessings and instructions from God.
But this journey also shows the rebellious side of the people. They complain that God has brought them out to the wilderness to starve or to die of thirst. They plot to get rid of their leaders, Moses and Aaron. Because of these sins, God does not allow them an easy, straight path to the land of promise. Instead, all those in the older generation who left Egypt (including Moses) must wander for forty years and eventually die in the desert wilderness. Only those in the younger generation would follow the faithful leaders, Joshua and Caleb, into Canaan. The lesson is about trust in God. Those who obey and trust God will receive God's blessings. Those who don't won't.