Numbers 10:14 WEB

¹²  The children of Israel set forward according to their journeys out of the wilderness of Sinai; and the cloud abode in the wilderness of Paran.

¹³  They first took their journey according to the commandment of Yahweh by Moses.

¹⁴  In the first [place] the standard of the camp of the children of Judah set forward according to their hosts: and over his host was Nahshon the son of Amminadab.

¹⁵  Over the host of the tribe of the children of Issachar was Nethanel the son of Zuar.

¹⁶  Over the host of the tribe of the children of Zebulun was Eliab the son of Helon.