Deuteronomy 1:21-23

Behold, the LORD your God has set the land before you; go up and take possession of it, just as the LORD, the God of your fathers, has spoken to you. Do not fear or be dismayed.’ “Then all of you approached me and said, ‘Let us send men [into the land] before us, so that they may explore and search the area for us, and bring back to us word regarding the way we should go, and the cities we should enter.’ The plan pleased me and I took twelve of your men, one man from each tribe.