Numbers 10:13-15

Young's Literal Translation

¹³ and they journey at first, by the command of Jehovah, in the hand of Moses.

¹⁴ And the standard of the camp of the sons of Judah journeyeth in the first [place], by their hosts, and over its host [is] Nahshon son of Amminadab.

¹⁵ And over the host of the tribe of the sons of Issachar [is] Nathaneel son of Zuar.