Numbers 10:17 (KJV)

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.

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

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

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

And over the host of the tribe of the children of Gad was Eliasaph the son of Deuel.

And the Kohathites set forward, bearing the sanctuary: and the other did set up the tabernacle against they came.

And the standard of the camp of the children of Ephraim set forward according to their armies: and over his host was Elishama the son of Ammihud.