Numbers 10:12-16

and the sons of Israel set out on their journeys from the wilderness of Sinai. Then the cloud settled in the wilderness of Paran.

So they moved on for the first time in accordance with the command of the Lord through Moses.

The flag of the camp of the sons of Judah, by their armies, set out first, with Nahshon the son of Amminadab, over its army,

and Nethanel the son of Zuar, over the tribal army of the sons of Issachar;

and Eliab the son of Helon over the tribal army of the sons of Zebulun.