Judges 1:28, 30, 33, 35

When the Israelites grew stronger, they forced the Canaanites to work as slaves, but they never did drive them completely out of the land.

The tribe of Zebulun failed to drive out the residents of Kitron and Nahalol, so the Canaanites continued to live among them. But the Canaanites were forced to work as slaves for the people of Zebulun.

Likewise, the tribe of Naphtali failed to drive out the residents of Beth-shemesh and Beth-anath. Instead, they moved in among the Canaanites, who controlled the land. Nevertheless, the people of Beth-shemesh and Beth-anath were forced to work as slaves for the people of Naphtali.

The Amorites were determined to stay in Mount Heres, Aijalon, and Shaalbim, but when the descendants of Joseph became stronger, they forced the Amorites to work as slaves.