Numbers 33:53

And ye shall dispossess the inhabitants of the land, and dwell therein: for I have given you the land to possess it.

God had given the land to Israel to possess it, and on that ground they were commanded to dispossess its inhabitants and dwell in it themselves. The charge to take possession was not settlement alone but active displacement of the peoples living there. It required driving out the inhabitants from before them. It also required destroying their pictured images and molten idols and demolishing all their high places.