Joshua 18:1-4

Then the whole congregation of the sons of Israel assembled at Shiloh, and set up the tent of meeting there; and the land was subdued before them.

But there remained among the sons of Israel seven tribes who had not divided their inheritance.

So Joshua said to the sons of Israel, “How long will you put off entering to take possession of the land which the Lord, the God of your fathers, has given you?

Provide for yourselves three men from each tribe so that I may send them, and that they may arise and walk through the land and write a description of it according to their inheritance; then they shall return to me.