No they weren't ever restored to the Promised Land. The Book of Joshua begins by citing the death of Moses who never entered the Promised Land of Canaan.
"Now after the death of Moses the servant of the Lord it came to pass, that the Lord spake unto Joshua the son of Nun, Moses' minister saying, Moses my servant is dead; now therefore arise, go over this Jordan, thou, and all the people, unto the land which I do give them, even the children of Israel. Joshua 1:1,2
As obvious as the nose on your face that they took posession of the land under Joshua.