Numbers 34:16-20

Then the Lord spoke to Moses, saying,

“These are the names of the men who shall assign the land to you as an inheritance: Eleazar the priest, and Joshua the son of Nun.

And you shall take one leader of each tribe to assign the land as an inheritance.

These are the names of the men: of the tribe of Judah, Caleb the son of Jephunneh.

Of the tribe of the sons of Simeon, Samuel the son of Ammihud.