I seem to do this a lot... so it would be nice to have it documented so I don't have to re-remember all the time:
# Rename images in current dir from `image00042.jpg` to instead start from `image00000.jpg`.
# (On macOS, `brew install rename`)
# TODO: Test this.
rename 's/\d+/sprintf("%05d", $&)/e' *.jpg
# Create timelapse.mp4 in current directory starting from `image00000.jpg`.
ffmpeg -framerate 20 -i image%05d.jpg -vf format=yuv420p timelapse.mp4
(Change framerate to suit your preferences.)