The LORD spoke to Moses in the tent of meeting in the Desert of Sinai on the first day of the second month of the second year after the Israelites came out of Egypt. He said:
“Take a census of the whole Israelite community by their clans and families, listing every man by name, one by one.
You and Aaron are to count according to their divisions all the men in Israel who are twenty years old or more and able to serve in the army.
One man from each tribe, each of them the head of his family, is to help you.
These are the names of the men who are to assist you: from Reuben, Elizur son of Shedeur;
from Simeon, Shelumiel son of Zurishaddai;
from Judah, Nahshon son of Amminadab;