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Exodus 23:28-30
And I will send hornets before you, which shall drive out the Hivite, the Canaanite, and the Hittite from before you.I will not drive them out from before you in one year, lest the land become desolate and the beasts of the field become too numerous for you.Little by little I will drive them out from before you, until you have increased, and you inherit the land.
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Numbers 33:52-53
then you shall drive out all the inhabitants of the land from before you, destroy all their engraved stones, destroy all their molded images, and demolish all their high places;you shall dispossess the inhabitants of the land and dwell in it, for I have given you the land to possess.
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Judges 3:1-4
Now these are the nations which the Lord left, that He might test Israel by them, that is, all who had not known any of the wars in Canaan( this was only so that the generations of the children of Israel might be taught to know war, at least those who had not formerly known it),namely, five lords of the Philistines, all the Canaanites, the Sidonians, and the Hivites who dwelt in Mount Lebanon, from Mount Baal Hermon to the entrance of Hamath.And they were left, that He might test Israel by them, to know whether they would obey the commandments of the Lord, which He had commanded their fathers by the hand of Moses.
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Judges 2:1-3
Then the Angel of the Lord came up from Gilgal to Bochim, and said:“ I led you up from Egypt and brought you to the land of which I swore to your fathers; and I said,‘ I will never break My covenant with you.And you shall make no covenant with the inhabitants of this land; you shall tear down their altars.’ But you have not obeyed My voice. Why have you done this?Therefore I also said,‘ I will not drive them out before you; but they shall be thorns in your side, and their gods shall be a snare to you.’”