Caleb is identified as a Kenizzite, a descendant of Esau (see Genesis 36:10–11). This suggests that Caleb was not born as an Israelite. He may have been a convert (someone who joined Israel’s faith). Even so, he became fully part of Israel’s life and worship.
Later, Caleb represented the tribe of Judah when Moses sent out the twelve spies to explore the promised land (Numbers 13:6).