Deuteronomy 1:21-23

See, the LORD your God has given you the land. Go up and take possession of it as the LORD, the God of your ancestors, told you. Do not be afraid; do not be discouraged.” Then all of you came to me and said, “Let us send men ahead to spy out the land for us and bring back a report about the route we are to take and the towns we will come to.” The idea seemed good to me; so I selected twelve of you, one man from each tribe.