Midrasch zu Schemuel I 17:40

“Take the staff…” (Bamidbar 20:8) This is what the scripture says “The staff of your might the Lord will send from Zion…” (Psalms 110:2) This is the staff which was in the hand of our father Yaakov, as it says “…for with my staff I crossed…” (Genesis 32:11) And it is the staff which was in the hand of Yehudah, as it says “Your signet, your cloak, and the staff that is in your hand.” (Genesis 38:18) And it was in the hand of Moshe, as it says “And you shall take this staff in your hand…” (Exodus 4:17) And it was in the hand of Aharon, as it says “Aaron cast his staff…” (Exodus 7:10) And it was in the hand of David, as it says “And he took his staff in his hand…” (Samuel I 17:40) And it was in the hand of every king until the Holy Temple was destroyed, and so in the future that very staff will be given to the King Messiah and with it he will rule over the nations of the world in the future. Therefore it says “The staff of your might the Lord will send from Zion…” (Psalms 110:2)…