Numbers 10:26-30

and Pagiel the son of Ochran over the tribal army of the sons of Asher;

and Ahira the son of Enan over the tribal army of the sons of Naphtali.

This was the order of marching for the sons of Israel by their armies as they set out.

Then Moses said to Hobab the son of Reuel the Midianite, Moses’ father-in-law, “We are setting out to the place of which the Lord said, ‘I will give it to you.’ Come with us and we will do you good, for the Lord has promised good concerning Israel.”

But he said to him, “I will not come, but rather will go to my own land and relatives.”