Numbers 26:63-65

63Those are the men that Moses and Eleazar the priest counted. They counted them on the flat ground in Moab beside the Jordan River. Jericho was on the other side of the river.

64None of the men that Moses and Aaron had counted in the Sinai desert were still alive.

65The Lord had said about those men, ‘They will certainly die in the desert.’ Among all those men, only Caleb the son of Jephunneh and Joshua the son of Nun were still alive.