'Forced Labor' in the Bible

When Israel grew strong, they put the Canaanites to forced labor, but did not utterly drive them out.

Zeb'ulun did not drive out the inhabitants of Kitron, or the inhabitants of Na'halol; but the Canaanites dwelt among them, and became subject to forced labor.

Naph'tali did not drive out the inhabitants of Beth-she'mesh, or the inhabitants of Beth-anath, but dwelt among the Canaanites, the inhabitants of the land; nevertheless the inhabitants of Beth-she'mesh and of Beth-anath became subject to forced labor for them.

the Amorites persisted in dwelling in Har-heres, in Ai'jalon, and in Sha-al'bim, but the hand of the house of Joseph rested heavily upon them, and they became subject to forced labor.