Deuteronomy 31:3, 7, 23

It is the LORD your God who will cross ahead of you; He will destroy these nations before you, and you shall dispossess them. Joshua is the one who will go across before you [to lead you], just as the LORD has said.

Then Moses called to Joshua and said to him in the sight of all [the people of] Israel, “Be strong and courageous, for you will go with this people into the land which the LORD has sworn to their fathers to give them, and you will give it to them as an inheritance.

Then He commanded and commissioned Joshua, the son of Nun, and said, “Be strong and courageous, for you will bring the sons of Israel into the land which I have sworn to give them, and I will be with you.”