Numbers 34:16-20

And the LORD spake unto Moses, saying,

These are the names of the men which shall divide the land unto you: Eleazar the priest, and Joshua the son of Nun.

And ye shall take one prince of every tribe, to divide the land by inheritance.

And the names of the men are these: Of the tribe of Judah, Caleb the son of Jephunneh.

And of the tribe of the children of Simeon, Shemuel the son of Ammihud.