Numbers 10:23 (KJV)

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.

And over the host of the tribe of the children of Benjamin was Abidan the son of Gideoni.

And the standard of the camp of the children of Dan set forward, which was the rereward of all the camps throughout their hosts: and over his host was Ahiezer the son of Ammishaddai.

And over the host of the tribe of the children of Asher was Pagiel the son of Ocran.

And over the host of the tribe of the children of Naphtali was Ahira the son of Enan.

Thus were the journeyings of the children of Israel according to their armies, when they set forward.