Joshua waged war against all these kings for a long period of time.
Cross References
Joshua 11:17from Mount Halak, which rises toward Seir, as far as Baal-gad in the Valley of Lebanon at the foot of Mount Hermon. He captured all their kings and struck them down, putting them to death.
Joshua 11:19No city made peace with the Israelites except the Hivites living in Gibeon; all others were taken in battle.
Treasury of Scripture
Joshua made war a long time with all those kings.
Joshua 14:10
And now, behold, the LORD hath kept me alive, as he said, these forty and five years, even since the LORD spake this word unto Moses, while the children of Israel wandered in the wilderness: and now, lo, I am this day fourscore and five years old.
Joshua 11:23
So Joshua took the whole land, according to all that the LORD said unto Moses; and Joshua gave it for an inheritance unto Israel according to their divisions by their tribes. And the land rested from war.
Joshua 14:7-10
Forty years old was I when Moses the servant of the LORD sent me from Kadeshbarnea to espy out the land; and I brought him word again as it was in mine heart…