Deuteronomy 31:3-7

3Yhwh thy God, he will go over before thee, and he will destroy these nations from before thee, and thou shalt possess them: and Joshua, he shall go over before thee, as Yhwh hath said. 4And Yhwh shall do unto them as he did to Sihon and to Og, kings of the Amorites, and unto the land of them, whom he destroyed. 5And Yhwh shall give them up before your face, that ye may do unto them according unto all the commandments which I have commanded you. 6Be strong and of a good courage, fear not, nor be afraid of them: for Yhwh thy God, he it is that doth go with thee; he will not fail thee, nor forsake thee.

7And Moses called unto Joshua, and said unto him in the sight of all Israel, Be strong and of a good courage: for thou must go with this people unto the land which Yhwh hath sworn unto their fathers to give them; and thou shalt cause them to inherit it.