Midrash for Joshua 10:24

וַ֠יְהִי כְּֽהוֹצִיאָ֞ם אֶת־הַמְּלָכִ֣ים הָאֵלֶּה֮ אֶל־יְהוֹשֻׁעַ֒ וַיִּקְרָ֨א יְהוֹשֻׁ֜עַ אֶל־כָּל־אִ֣ישׁ יִשְׂרָאֵ֗ל וַ֠יֹּאמֶר אֶל־קְצִינֵ֞י אַנְשֵׁ֤י הַמִּלְחָמָה֙ הֶהָלְכ֣וּא אִתּ֔וֹ קִרְב֗וּ שִׂ֚ימוּ אֶת־רַגְלֵיכֶ֔ם עַֽל־צַוְּארֵ֖י הַמְּלָכִ֣ים הָאֵ֑לֶּה וַֽיִּקְרְב֔וּ וַיָּשִׂ֥ימוּ אֶת־רַגְלֵיהֶ֖ם עַל־צַוְּארֵיהֶֽם׃

And it came to pass, when they brought forth those kings unto Joshua, that Joshua called for all the men of Israel, and said unto the chiefs of the men of war that went with him: ‘Come near, put your feet upon the necks of these kings.’ And they came near, and put their feet upon the necks of them.

Sifrei Devarim