Continuing a chronological Bible study:
(Joshua 18:1) And the whole congregation of the children of Israel assembled together at Shiloh and set up the tabernacle of the congregation there. And the land was subdued before them. (2) And there remained among the children of Israel seven tribes which had not yet received their inheritance.
The past few chapters have been describing the lots of land the first few tribes had received. The tribes of Benjamin, Simeon, Zebulun, Issachar, Asher, Naphtali, and Dan, had not yet received their inheritance. It seems a break was taken from the casting of lots, and the whole congregation met together at Shiloh and set up the tabernacle of the congregation there, moving it from their camp in Gilgal. The land was subdued and quiet at that time.
(3) And Joshua said to the children of Israel, "How long will you be slack to go to possess the land which the Lord God of your fathers has given you?"
Joshua spoke to the Israelites who had thus far not received their lots of inheritance. He asked how long they would be slothful about going in to possess their land. It's not that they could claim land that had not yet been assigned by lot, but they were apparently not eager to get on with it. They were probably happy living in camps off the spoils of the enemy and not earnest about receiving their own land where they might have to work to clear or to drive out the Canaanites who remained or might have come back.
(4) "Give out from among you three men per tribe, and I will send them, and they shall arise and go through the land and describe it according to the inheritance of them, and they shall come to me."
Joshua asked that each tribe select three men from their tribe, and Joshua would send them out to the unallotted land to survey and describe and bring the information back to him.
(5) "And they shall divide it into seven parts; Judah shall abide in their coast on the south, and the house of Joseph shall abide in their coasts on the north."
The three men selected from each of the remaining seven tribes were to divide the land into seven parts for those seven tribes. Judah already had his lot in the south, and the sons of Joseph, Ephraim and Manasseh, had their lots north of Judah, so those were established, and there was no need to survey their lands.
(6) "You shall therefore describe the land in seven parts and bring it here to me, that I may cast lots for you here before the Lord our God."
Speaking about the three men from each of the seven tribes, Joshua said they were to survey and describe the land in each of the seven parts and bring that information back to him so that he could cast lots for each of the lots of land before their Lord God.
(7) "But the Levites have no part among you, for the priesthood of the Lord is their inheritance, and Gad, and Reuben, and half the tribe of Manasseh, have received their inheritance beyond Jordan on the east, which Moses the servant of the Lord gave them."
Joshua pointed out that the Levites would not be receiving any land inheritance because as priests, the Lord was their inheritance. Also the tribes of Reuben and Gad and half the tribe of Manasseh had already received their lots on the east of the Jordan River. He had already mentioned the tribes of Judah and the sons of Joseph who had their allotments, so that left the tribes of Benjamin, Simeon, Zebulun, Issachar, Asher, Naphtali, and Dan, who needed to receive their inheritance.
(8) And the men arose and went away, and Joshua charged them who went to describe the land, saying, "Go and walk through the land and describe it and come again to me, that I may here cast lots for you before the Lord in Shiloh."
Joshua spoke directly to the three surveyors from each tribe, telling them to go do their surveys and bring their descriptions back to him so that he could cast lots for the tribes there in Shiloh before the Lord. The men arose and went their way.
(9) And the men went and passed through the land and described it by cities into seven parts in a book and came to Joshua to the host at Shiloh.
The men went through the remaining land and described it by cities and divided it into seven parts and put their information in a book that they brought back to Joshua at Shiloh.
(10) And Joshua cast lots for them in Shiloh before the Lord, and there Joshua divided the land to the children of Israel according to their divisions.
There in Shiloh Joshua cast lots for each of the seven remaining tribes, dividing the remaining land among them.
(11) And the lot of the tribe of the children of Benjamin came up according to their families, and the coast of their lot came forth between the children of Judah and the children of Joseph.
The first lot went to Benjamin. It was a small lot, called "little Benjamin" in Psalm 68:27, but the land was said to be very pleasant and fruitful. It lay between Judah and the children of Joseph, Ephraim and Manasseh. This map borrowed from Biblical Toolbelt shows the lot of Benjamin:
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