NUMBERS 10:11~16(ESV)
11 In the second year, in the second month, on the twentieth day of the month, the cloud lifted from over the tabernacle of the testimony, 12 and the people of Israel set out by stages from the wilderness of Sinai. And the cloud settled down in the wilderness of Paran. 13 They set out for the first time at the command of the Lord by Moses. 14 The standard of the camp of the people of Judah set out first by their companies, and over their company was Nahshon the son of Amminadab. 15 And over the company of the tribe of the people of Issachar was Nethanel the son of Zuar. 16 And over the company of the tribe of the people of Zebulun was Eliab the son of Helon.