Deuteronomy 1:19-23

19“So we departed from Horeb, and went through all that great and terrible wilderness which you saw on the way to the mountains of the Amorites, as the Lord our God had commanded us. Then we came to Kadesh Barnea.

20And I said to you, ‘You have come to the mountains of the Amorites, which the Lord our God is giving us.

21Look, the Lord your God has set the land before you; go up and possess it, as the Lord God of your fathers has spoken to you; do not fear or be discouraged.’

22“And every one of you came near to me and said, ‘Let us send men before us, and let them search out the land for us, and bring back word to us of the way by which we should go up, and of the cities into which we shall come.’

23“The plan pleased me well; so I took twelve of your men, one man from each tribe.