Joshua 18:2-10

² but there were still seven Israelite tribes who had yet to receive their inheritance. ³ Joshua addressed the People of Israel: "How long are you going to sit around on your hands, putting off taking possession of the land that God, the God of your ancestors, has given you? ⁴ Pick three men from each tribe so I can commission them. They will survey and map the land, showing the inheritance due each tribe, and report back to me. ⁵ They will divide it into seven parts. Judah will stay in its territory in the south and the people of Joseph will keep to their place in the north. ⁶ "You are responsible for preparing a survey map showing seven portions. Then bring it to me so that I can cast lots for you here in the presence of our God. ⁷ "Only the Levites get no portion among you because the priesthood of God is their inheritance. And Gad, Reuben, and the half-tribe of Manasseh already have their inheritance on the east side of the Jordan, given to them by Moses the servant of God." ⁸ So the men set out. As they went out to survey the land, Joshua charged them: "Go. Survey the land and map it. Then come back to me and I will cast lots for you here at Shiloh in the presence of God." ⁹ So off the men went. They covered the ground and mapped the country by towns in a scroll. Then they reported back to Joshua at the camp at Shiloh. ¹⁰ Joshua cast the lots for them at Shiloh in the presence of God. That's where Joshua divided up the land to the People of Israel, according to their tribal divisions.