King James Version
And it came to pass on the twentieth day of the second month, in the second year, that the cloud was taken up from off the tabernacle of the testimony.(Numbers 10:11)
And the children of Israel took their journeys out of the wilderness of Sinai; and the cloud rested in the wilderness of Paran.(Numbers 10:12)
And they first took their journey according to the commandment of the LORD by the hand of Moses.(Numbers 10:13)
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.(Numbers 10:15)
And over the host of the tribe of the children of Zebulun was Eliab the son of Helon.(Numbers 10:16)
And the tabernacle was taken down; and the sons of Gershon and the sons of Merari set forward, bearing the tabernacle.(Numbers 10:17)

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Numbers 10:14 - Cross Reference

And he that offered his offering the first day was Nahshon the son of Amminadab, of the tribe of Judah: (Numbers 7:12)
And on the east side toward the rising of the sun shall they of the standard of the camp of Judah pitch throughout their armies: and Nahshon the son of Amminadab shall be captain of the children of Judah. (Numbers 2:3)
Judah, thou art he whom thy brethren shall praise: thy hand shall be in the neck of thine enemies; thy father's children shall bow down before thee. (Genesis 49:8)
Of Judah; Nahshon the son of Amminadab. (Numbers 1:7)
The sons of Judah were Er and Onan: and Er and Onan died in the land of Canaan. (Numbers 26:19)