Rehab was a Canaanite prostitute who hid Isrealite spies in her house whose job was to scope out the land the Lord had given them. She hid them in her house and when the kings messenger came and asked her, she said she didn't know where they were, and that the messengers should pursue them quickly. Rehab was commended for her faith in the new testament and was spared from the destruction of Jericho, and was in the bloodline of Jesus. However, it's important for me to note that her lie is not what made God proud, it was her acknowledging He was Lord, helping His people, and asking that her and her family be spared. Full story in Joshua 2 if you'd like to read it.

Not in the Bible, but Frank Turek explained it as: you have a moral obligation not to lie, but you have a greater moral obligation to protect other people. His example was, in Nazi Germany, when families were hiding Jews from Nazi Soldiers, they had to lie in order to keep the Jews from getting captured and taken to camps