Judges 3:1-6

Now these are the nations which the LORD left [in order] to test Israel by them (that is, all [the people of Israel] who had not [previously] experienced any of the wars in Canaan; only in order that the generations of the sons of Israel might be taught war, at least those who had not experienced it previously). The remaining nations are: the five lords (governors) of the Philistines, all the Canaanites, the Sidonians, and the Hivites who lived on Mount Lebanon from Mount Baal-hermon to the entrance of Hamath. They were [allowed to remain] for the testing of Israel, to determine whether Israel would listen to and obey the commandments of the LORD, which He had commanded their fathers (ancestors) through Moses. And the Israelites lived among the Canaanites, Hittites, Amorites, Perizzites, Hivites, and Jebusites; and they took their daughters for themselves as wives and gave their own daughters to their sons, and served their [pagan] gods. [Ex 34:12-16]