Whenever Israel was strong militarily, they forced the Canaanites to do hard labor, but they never totally conquered them.

The men of Zebulun did not conquer the people living in Kitron and Nahalol. The Canaanites lived among them and were forced to do hard labor.

The men of Naphtali did not conquer the people living in Beth Shemesh or Beth Anath. They live among the Canaanites residing in the land. The Canaanites living in Beth Shemesh and Beth Anath were forced to do hard labor for them.

The Amorites managed to remain in Har Heres, Aijalon, and Shaalbim. Whenever the tribe of Joseph was strong militarily, the Amorites were forced to do hard labor.

Her hand to the peg will she stretch forth, And her right hand to the hammer of labor, And she struck Sisera; she smote through his head, And she crushed and pierced through his temples.

And they will remove the strange gods from the midst of them, and they will serve Jehovah: and his soul will be shortened for the labor of Israel.