Deuteronomy 1:19-22

19“Then we set out from Horeb (Sinai), and went through all that great and terrible wilderness which you saw on the way to the hill country of the Amorites, just as the Lord our God commanded us; and we came to Kadesh-barnea.

20And I said to you, ‘You have come to the hill country of the Amorites which the Lord our God is about to give us.

21Behold, the Lord your God has set the land before you; go up and take possession of it, just as the Lord, the God of your fathers, has spoken to you. Do not fear or be dismayed.’

22“Then all of you approached me and said, ‘Let us send men [into the land] before us, so that they may explore and search the area for us, and bring back to us word regarding the way we should go, and the cities we should enter.’