Numbers 10:12-16

¹²And the children of Israel took their journeys out of the wilderness of Sinai; and the cloud rested in the wilderness of Paran.

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

¹⁴In the first place went the standard of the camp of the children of Judah according to their armies: and over his host was Nahshon the son of Amminadab.

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

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