Deuteronomy 31:14, 23

Then the LORD said to Moses, “Behold, the time for you to die is near; call Joshua, and present yourselves at the tent of meeting, that I may commission him.” So Moses and Joshua went and presented themselves at the tent of meeting.

Then He commissioned Joshua the son of Nun, and said, “Be strong and courageous, for you shall bring the sons of Israel into the land which I swore to them, and I will be with you.”