Deuteronomy 17:15

The prohibition to choose a foreigner indicates that the people had the right of election. In what way this was to be exercised, and how it was subject to the Divine choice, is not declared. Judging from what actually happened in subsequent history, it would appear that only on special occasions, such as the election of the first king or a change of dynasty, did God take the initiative, and through a prophet direct the choice of the people; ultimately the monarchy became hereditary, and it was understood that the prince who succeeded to the throne did so with the Divine approval, unless the opposite was expressly intimated by a message from God.