Judges 1:28

And it came to pass, when Israel was strong, that they put the Canaanites to tribute, and did not utterly drive them out.

It happened, when Israel had grown strong, that they put the Canaanites to forced labor, and did not utterly drive them out.

And it came to pass, when Israel was waxed strong, that they put the Canaanites to taskwork, and did not utterly drive them out.

and it cometh to pass, when Israel hath been strong, that he setteth the Canaanite to tribute, and hath not utterly dispossessed it.

When Israel became stronger, they pressed the Canaanites into forced labor, but they never drove them out completely.