Deuteronomy 1:31-33

and in the wilderness where you saw how the LORD your God carried and protected you, just as a man carries his son, all along the way which you traveled until you arrived at this place.’ Yet in spite of this word, you did not trust [that is, confidently rely on and believe] the LORD your God, who went before you along the way, in fire by night and in a cloud by day, to seek a place for you to make camp and to show you the way in which you should go.