Judges 3:3, 5

These are the nations: the Philistines (those living under the five Philistine rulers), all the Canaanites, the Sidonians, and the Hivites living in the mountains of Lebanon from Mount Baal-hermon to Lebo-hamath.

So the people of Israel lived among the Canaanites, Hittites, Amorites, Perizzites, Hivites, and Jebusites