Numbers 34:23 lists Hanniel son of Ephod as the leader chosen from the tribe of Manasseh, one of Joseph’s descendants, to help assign the land west of the Jordan River among the Israelite tribes. This verse identifies the official representative for Manasseh in the process of dividing the Promised Land.
In context, God is instructing Moses about how the land of Canaan should be divided among the tribes of Israel. Each tribe is to have a leader, called a "prince," to oversee this process. Here, Hanniel is named as the leader for the tribe of Manasseh, which is one of the two tribes descended from Joseph. This verse is part of a longer list naming each tribe’s representative.