Exodus 33:11-12

11And so the Lord used to speak to Moses face to face, just as a man speaks to his friend. When Moses returned to the camp, his attendant Joshua, the son of Nun, a young man, would not depart from the tent.

12Moses said to the Lord, “See, You say to me, ‘Bring up this people,’ but You have not let me know whom You will send with me. Yet You have said, ‘I know you by name, and you have also found favor in My sight.’