The Israelites (or Hebrews) might have lost touch with God, but He hadn’t forgotten them:
3:7-9 I have certainly seen the oppression of my people in Egypt. I have heard their cries of distress because of their harsh slave drivers. Yes, I am aware of their suffering. So I have come down to rescue them from the power of the Egyptians and lead them out of Egypt into their own fertile and spacious land. … Look! The cry of the people of Israel has reached me, and I have seen how harshly the Egyptians abuse them.