וַיִּתְהַלְּכ֨וּ מִשָּׁ֤ם בְּנֵֽי־יִשְׂרָאֵל֙ בָּעֵ֣ת הַהִ֔יא אִ֥ישׁ לְשִׁבְט֖וֹ וּלְמִשְׁפַּחְתּ֑וֹ וַיֵּצְא֣וּ מִשָּׁ֔ם אִ֖ישׁ לְנַחֲלָתֽוֹ׃
And the children of Israel departed thence at that time, every man to his tribe and to his family, and they went out from thence every man to his inheritance.
Read midrashic interpretation of Judges 21:24: and classical rabbinic exegesis.