Judges 1:28, 30-35

And whenever Israel gained the upper hand, they subjected the Canaanites to forced labor; but they did not completely drive them out.

The tribe of Zebulun failed to drive out the Canaanites living in Kitron or Nahalol, so the Canaanites continue to live there among them. The tribe of Asher failed to drive out the Canaanites living in Acco, Sidon, Ahlab, Achzib, Helbah, Aphik, and Rehob, so the people of Asher live among the Canaanites residing in the land because they did not conquer them. Likewise, the tribe of Naphtali failed to drive out the Canaanites living in Beth Shemesh or Beth Anath, so they live among the Canaanites residing in the land. However, they forced the inhabitants of Beth Shemesh and Beth Anath to serve them. The tribe of Dan was least successful. The Amorites forced them back into the hills and they could no longer live in the valley. The Amorites persisted in living on Mount Heres, in Aijalon, and in Shaalbim. But when the descendants of Joseph grew stronger, they overpowered the Amorites and ruled over them.