וַֽיַּעֲנוּ֙ בְּנֵי־רְאוּבֵ֣ן וּבְנֵי־גָ֔ד וַחֲצִ֖י שֵׁ֣בֶט הַֽמְנַשֶּׁ֑ה וַֽיְדַבְּר֔וּ אֶת־רָאשֵׁ֖י אַלְפֵ֥י יִשְׂרָאֵֽל׃
Then the children of Reuben and the children of Gad and the half-tribe of Manasseh answered, and spoke unto the heads of the thousands of Israel:
Read halakhic rulings (Jewish law) on Joshua 22:21: and classical halakhic sources.