Numbers 10:11-15

And it came to pass on the twentieth day of the second month, in the second year, that the cloud was taken up from off the tabernacle of the testimony.

And the children of Israel took their journeys out of the wilderness of Sinai; and the cloud rested in the wilderness of Paran.

And they first took their journey according to the commandment of the LORD by the hand of Moses.

In the first place went the standard of the camp of the children of Judah according to their armies: and over his host was Nahshon the son of Amminadab.

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