Judges 1:28

1:28 Whenever Israel was strong militarily, they forced the Canaanites to do hard labor, but they never totally conquered them.

Judges 1:35

1:35 The Amorites managed to remain in Har Heres, Aijalon, and Shaalbim. Whenever the tribe of Joseph was strong militarily, the Amorites were forced to do hard labor.