Numbers 10:12-16

¹²And the children of Israel set forward by their stages out of the wilderness of Sinai; and the cloud abode in the wilderness of Paran. —

¹³And they took their first journey, according to the commandment of the LORD by the hand of Moses.

¹⁴And in the first place the standard of the camp of the children of Judah set forward according to their hosts; and over his host was Nahshon the son of Amminadab.

¹⁵And over the host of the tribe of the children of Issachar was Nethanel the son of Zuar.

¹⁶And over the host of the tribe of the children of Zebulun was Eliab the son of Helon.