Milcah (Zelophehad's daughter)
Milcah was one of Zelophehad's five daughters. After Zelophehad died without sons, Zelophehad's daughters asked Moses, Eleazar, and the others gathered around the Tabernacle for a share of their father's inheritance.
Our father died in the wilderness. He was not among those who assembled together against the Lord in the company of Korah, but he died for his own sin [as did all those who rebelled at Kadesh], and he had no sons. Why should the name of our father be removed from his family because he had no son? Give to us a possession (land) among our father’s brothers.— Numbers 27:3–27:4 (AMP)
God then told Moses that the daughters' case was just and the daughters deserved a portion of their Zelophehad's inheritance along with Zelophehad's brothers.
The request of the daughters of Zelophehad is justified. You shall certainly give them a possession as an inheritance among their father’s brothers, and you shall transfer their father’s inheritance to them.— Numbers 27:7 (AMP)
God then dictated to Moses how inheritances were to be distributed upon a person's death. Thus, the daughters were granted a portion of their father's inheritance.
Zelophehad was of the Tribe of Manasseh. The Manassehites were concerned that if Zelophehad's daughter married outside of Tribe, Zelophehad's lands – Manassehite lands – would pass out of Manassehite hands.
God then told Moses that the daughters must marry within their tribe so that their father's inheritance may remain among their tribe.
The statement of the tribe of the sons of Joseph is correct. This is what the Lord commands regarding the daughters of Zelophehad:Let them marry whom they wish; only they must marry within the family of the tribe of their father.So no inheritance of the Israelites shall be transferred from tribe to tribe, for every one of the Israelites shall hold to the inheritance of the tribe of his fathers (tribal ancestors). Every daughter who possesses an inheritance [of land] in any one of the tribes of the Israelites shall marry [only] a man whose family is of her father’s tribe, so that the Israelites may each possess the inheritance of his fathers (tribal ancestors). So no inheritance shall be transferred from one tribe to another, but each of the tribes of the Israelites shall hold to its own inheritance.— Numbers 36:5–36:9 (AMP)
The daughters obeyed God's commands and married sons of their father's brothers; thus, ensuring that their father's inheritances remained possessions of the Manassehites.