Chabad Knowledge Base
After he died in the desert, his daughters successfully petitioned to be awarded his portion in the Land of Canaan. Some say he was killed by the Amalekites and the Canaanites among those who -- after the Spies catastrophe -- attempted to go to Canaan on their own. Others say he was the wood gatherer.
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Entry for 'Zelophehad'. Chabad Knowledge Base. https://www.studylight.org/dictionaries/eng/ckb/z/zelophehad.html. 2012.