Judges 1:28

And it came to pass, when Israel was strong, that they put the Canaanites to tribute, and did not utterly drive them out.

Cross-reference

Deuteronomy 20:11 gives the law making cities tributaries; Judges 1:28 applies this practice to the Canaanites.

Joshua 17:12 reports Manasseh could not drive out Canaanites; Judges 1:28 says they later put them to tribute instead.

Joshua 17:13 is nearly identical: when Israel grew strong, they put Canaanites to tribute but did not drive them out.

1 Kings 9:21 records Solomon levying tribute on remaining Canaanites, echoing the same policy from Judges 1:28.