# house of Jacob

"descendants of Jacob" 

# who are called by the name Israel

"whom everyone calls the people of Israel" 

# have come from the waters of Judah

"are the descendants of Judah" 

# the waters of Judah

"the family line of Judah" or "the loins of Judah" or "the sperm of Judah"

# invoke the God of Israel

"call on the God of Israel"