The division of the land among the 12 tribes of Israel:

In the North were:

Asher, Naphtali, Zebulun, Issachar and Manasseh

In the Middle were:

Dan, Ephraim, Gad and Benjamin

In the South were:

Judah, Reuben, and Simeon

This land was divided by the drawing of lots:

Josh 18:1-6
1 And the whole congregation of the children of Israel assembled together at Shiloh, and set up the tabernacle of the congregation there. And the land was subdued before them.
2 And there remained among the children of Israel seven tribes, which had not yet received their inheritance.
3 And Joshua said unto the children of Israel, How long are ye slack to go to possess the land, which the LORD God of your fathers hath given you?
4 Give out from among you three men for each tribe: and I will send them, and they shall rise, and go through the land, and describe it according to the inheritance of them; and they shall come again to me.
5 And they shall divide it into seven parts: Judah shall abide in their coast on the south, and the house of Joseph shall abide in their coasts on the north.
6 Ye shall therefore describe the land into seven parts, and bring the description hither to me,
that I may cast lots for you here before the LORD our God.
7 But the Levites have no part among you; for the priesthood of the LORD is their inheritance: and Gad, and Reuben, and half the tribe of Manasseh, have received their inheritance beyond Jordan on the east, which Moses the servant of the LORD gave them.
8 And the men arose, and went away: and Joshua charged them that went to describe the land, saying, Go and walk through the land, and describe it, and come again to me, that I may here cast lots for you before the LORD in Shiloh.
9 And the men went and passed through the land, and described it by cities into seven parts in a book, and came again to Joshua to the host at Shiloh.
And Joshua cast lots for them in Shiloh before the LORD: and there Joshua divided the land unto the children of Israel according to their divisions.

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