Numbers 1:52
The children of Israel shall pitch their tents, every man by his own camp, and every man by his own standard, according to their divisions.
Numbers 2:2
"The children of Israel shall encamp every man by his own standard, with the banners of their fathers' houses: at a distance from the Tent of Meeting shall they encamp around it."
Numbers 2:34
Thus the children of Israel did. According to all that Yahweh commanded Moses, so they encamped by their standards, and so they set out, everyone by their families, according to their fathers' houses.
Numbers 10:1-36
Yahweh spoke to Moses, saying,
Numbers 24:2
Balaam lifted up his eyes, and he saw Israel dwelling according to their tribes; and the Spirit of God came on him.