Two Hebrew words are used in these first six verses with reference to Israel and the land. The first, yarats, is found in Joshua 13:1 and translated by the ESV as to possess.
This word is normally used elsewhere in the Bible to refer to a legal inheritance, the transfer of family leadership and property (see Genesis 15:3–4; Numbers 27:11), or an inheritance of territory (Deuteronomy 2:12; Joshua 1:15; Judges 11:23–24). This would suggest that Israel’s inheritance was a legal transaction, the transfer of property that was a gift from God.1
The second Hebrew word, nahal, is found in Joshua 13:6 and translated as an inheritance.
This word has the basic meaning of ownership and is used for ownership of land (Numbers 32:18–19), the ownership of Israel by God (Deuteronomy 4:20), and the Lord as the inheritance of Levi (Numbers 18:20).2
Israel has thus received the land from God. They must now occupy and take ownership of it. They must go and take possession of the land which they have received as a gift.
6 all the inhabitants of the hill country from Lebanon to Misrephoth-maim, even all the Sidonians. I myself will drive them out from before the people of Israel. Only allot the land to Israel for an inheritance, as I have commanded you.