Albert Barnes Commentary Numbers 1:5-16

"And these are the names of the men that shall stand with you. Of Reuben: Elizur the son of Shedeur. Of Simeon: Shelumiel the son of Zurishaddai. Of Judah: Nahshon the son of Amminadab. Of Issachar: Nethanel the son of Zuar. Of Zebulun: Eliab the son of Helon. Of the children of Joseph: Of Ephraim: Elishama the son of Ammihud. Of Manasseh: Gamaliel the son of Pedahzur. Of Benjamin: Abidan the son of Gideoni. Of Dan: Ahiezer the son of Ammishaddai. Of Asher: Pagiel the son of Ochran. Of Gad: Eliasaph the son of Deuel. Of Naphtali: Ahira the son of Enan. These are they that were called of the congregation, the princes of the tribes of their fathers; they were the heads of the thousands of Israel." — Numbers 1:5-16 (ASV)

The princes of the tribes, selected (Numbers 1:4) under divine direction, were for the most part the same persons as those chosen a few months previously at the counsel of Jethro (Exodus 18:21–26). Nahshon, prince of Judah, is mentioned in (Exodus 6:23), and Elishama, in (1 Chronicles 7:26–27). The peers of men like these were no doubt entitled, among their fellows, to the epithet renowned, (Numbers 1:16).