Deuteronomy 1:19-22

19"Then we set out from Horeb and went through all that great and terrifying wilderness that you saw, on the way to the hill country of the Amorites, 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 giving us.

21See, the Lord your God has set the land before you. Go up, take possession, as the Lord, the God of your fathers, has told you. Do not fear or be dismayed.'

22Then all of you came near me and said, 'Let us send men before us, that they may explore the land for us and bring us word again of the way by which we must go up and the cities into which we shall come.'