'Forced Labor' in the Bible

It happened when Israel became strong, that they put the Canaanites to forced labor, but they did not drive them out completely.

[The warriors of the tribe of] Zebulun did not drive out the inhabitants of Kitron or of Nahalol; so the Canaanites lived among them and were put to forced labor.

Neither did [the warriors of] Naphtali drive out the inhabitants of Beth-shemesh, or the inhabitants of Beth-anath, but they lived among the Canaanites, the inhabitants of the land; and the inhabitants of Beth-shemesh and of Beth-anath became forced labor for them.

yet the Amorites persisted in living on Mount Heres (the mountain of the sun), in Aijalon, and in Shaalbim; but when the power of the house (descendants) of Joseph became strong and prevailed, they became forced labor.