Numbers 10:16

13 And they first took their journey according to the commandment of Jehovah by Moses.

14 And 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 And over the host of the tribe of the children of Issachar was Nethanel the son of Zuar.

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

17 And the tabernacle was taken down; and the sons of Gershon and the sons of Merari, who bare the tabernacle, set forward.

18 And the standard of the camp of Reuben set forward according to their hosts: and over his host was Elizur the son of Shedeur.

19 And over the host of the tribe of the children of Simeon was Shelumiel the son of Zurishaddai.