Deuteronomy 1:19-22

19And when we departed from Horeb, we went through all that great and terrible wilderness, which ye saw by the way of the mountain of the Amorites, as Yhwh our God commanded us; and we came to Kadesh–barnea. 20And I said unto you, Ye are come unto the mountain of the Amorites, which Yhwh our God doth give unto us. 21Behold, Yhwh thy God hath set the land before thee: go up and possess it, as Yhwh God of thy fathers hath said unto thee; fear not, neither be discouraged.

22And ye came near unto me every one of you, and said, We will send men before us, and they shall search us out the land, and bring us word again by what way we must go up, and into what cities we shall come.