Numbers 26:63-65

So these are the results of the registration of the people of Israel as conducted by Moses and Eleazar the priest on the plains of Moab beside the Jordan River, across from Jericho. Not one person on this list had been among those listed in the previous registration taken by Moses and Aaron in the wilderness of Sinai. For the LORD had said of them, “They will all die in the wilderness.” Not one of them survived except Caleb son of Jephunneh and Joshua son of Nun.