וַֽיְהִ֗י כִּ֤י חָֽזְקוּ֙ בְּנֵ֣י יִשְׂרָאֵ֔ל וַיִּתְּנ֥וּ אֶת־הַֽכְּנַעֲנִ֖י לָמַ֑ס וְהוֹרֵ֖שׁ לֹ֥א הוֹרִישֽׁוֹ׃ (ס)
And it came to pass, when the children of Israel were waxen strong, that they put the Canaanites to taskwork, but did not utterly drive them out.
Read midrashic interpretation of Joshua 17:13: and classical rabbinic exegesis.