Numbers 27

The daughters of Zelophehad petition Moses for their father's inheritance since he had no sons; YHWH grants it to them and establishes inheritance laws prioritizing sons, daughters, brothers, uncles, then nearest kin, and appoints Joshua as Moses' successor, laying hands on him before Eleazar and the congregation.[2][3]

Interlinear Text

Then drew near the daughters of Zelophehad the son of Hepher son of Gilead son of Machir son of Manasseh from the families of Manasseh the son of Joseph and these the names of his daughters Mahlah Noah Hoglah Milcah and Tirzah
and if there are no brothers for his father then you shall give - his inheritance to his relative nearest to him from his family and he shall inherit it and it shall be to the sons of Israel a statute of judgment as commanded YHWH - Moses
and before Eleazar the priest he shall stand and ask for him by the judgment of the Urim before YHWH at his mouth they shall go out and at his mouth they shall come in he and all sons of Israel with him and all the congregation