The Haftarah of Beha’alotcha is the same as the one read on Chanukah, the vision of the Menorah in Zechariah.
Linear annotated translation of the Haftarah of Beha’alotcha
The connection to the Parsha is of course, through the Menorah, as the commandment to light the Menorah is at the beginning of the Parsha. But there is more to it, as always. The Light in Our Midst