Deuteronomy 31:3, 7, 23

Jehovah thy God, he will go over before thee; he will destroy these nations from before thee, and thou shalt dispossess them: and Joshua, he shall go over before thee, as Jehovah hath spoken.

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

And he gave Joshua the son of Nun a charge, and said, Be strong and of good courage; for thou shalt bring the children of Israel into the land which I sware unto them: and I will be with thee.