God spoke to Moses:
"Send men to scout out the country of Canaan that I am giving to the People of Israel. Send one man from each ancestral tribe, each one a tried-and-true leader in the tribe."
So Moses sent them off from the Wilderness of Paran at the command of God. All of them were leaders in Israel, one from each tribe.
These were their names: from Reuben: Shammua son of Zaccur
from Simeon: Shaphat son of Hori
from Judah: Caleb son of Jephunneh