God has not established kings or parliaments. He has established a system of government by judges applying his law. This system is described in Exodus and Deuteronomy. Unfortunately, it was never fully implemented, so its operation is not described in the Bible.
The book that is called Judges actually describes a time when Israel refused fell into sin and refused to submit to good judges. Without God’s protection, they were invaded by their enemies, so God had to raise up military commanders to rescue them.
In his letter to the Romans, Paul affirms this system of government by judges applying God’s law. He supported this system by urging all people to freely submit to excellent judges.