After the Hebrews entered the Promised Land and Joshua died, a period of Judges' rulership began:

Othniel, Judah, Joshua 15:17, Judges 3:7-11, 1367-1327 BC
Ehud, Benjamin, Judges 3:12-30, 1309-1229 BC
Shamgar, Judges 3:31
Deborah, Naphtali, Judges 4-5, 1209-1169 BC
Gideon, Manasseh, Judges 6-9, 1162-1122 BC
Abimelech, Manasseh, Judges 9
Tola, Issachar, Judges 10:1-2
Jair, Gilead, Judges 10:3-5
Jephthah, Gilead, Judges 10:6-12:7, 1078-1072 BC
Ibzan, Judges 12:8-10
Elon, Zebulun, Judges 12:11-12
Abdom, Judges 12:13-15
Samson, Dan, Judges 13-16, 1075-1055 BC

The people wanted to have a king. God provided, under the leadership of prophet Samuel. Three kings (Saul, David, and Solomon) in a row ruled the undivided land, until the land was divided into a Northern Kingdom (Israel) and a Southern Kingdom (Judah). See the list of kings here.