This is the inheritance
nachalah (nakh-al-aw')
something inherited, i.e. (abstractly) occupancy, or (concretely) an heirloom; generally an estate, patrimony or portion -- heritage, to inherit, inheritance, possession.
of the tribe
matteh (mat-teh')
rod, staff, tribe.
of the children
ben (bane)
a son (as a builder of the family name), in the widest sense (of literal and figurative relationship, including grandson, subject, nation, quality or condition, etc.
of Judah
Yhuwdah (yeh-hoo-daw')
celebrated; Jehudah (or Judah), the name of five Israelites; also of the tribe descended from the first, and of its territory -- Judah.
according to their families
mishpachah (mish-paw-khaw')
a family, i.e. circle of relatives; figuratively, a class (of persons), a species (of animals) or sort (of things); by extens. a tribe or people -- family, kind(-red).