Deuteronomy 1:21-23

21 See thou Yahweh thy God hath set before thee the land, go up take possession as Yahweh the God of thy fathers hath spoken unto thee, do not fear, neither be dismayed.

22 And ye came near unto me all of you, and said Let us send men before us, that they may search out for us the land, and bring us back word, the way by which we must go up, and the cities whereinto we must enter,

23 And the thing, was good in mine eyes, so I took from among you twelve men, one man for each tribe.