Numbers 10:12-16

¹²The people of Israel then went on their journey from the wilderness of Sinai. The cloud stopped in the wilderness of Paran.

¹³They made their first journey, following Yahweh's command given through Moses.

¹⁴The camp under the banner of Judah's descendants went out first, moving out their individual armies. Nahshon son of Amminadab led Judah's army.

¹⁵Nethanel son of Zuar led the army of the tribe of Issachar's descendants.

¹⁶Eliab son of Helon led the army of the tribe of Zebulun's descendants.