Numbers 13:1-2, 6-8, 16

Then the LORD spoke to Moses saying, “Send out for yourself men so that they may spy out the land of Canaan, which I am going to give to the sons of Israel; you shall send a man from each of their fathers’ tribes, every one a leader among them.”

from the tribe of Judah, Caleb the son of Jephunneh; from the tribe of Issachar, Igal the son of Joseph; from the tribe of Ephraim, Hoshea the son of Nun

These are the names of the men whom Moses sent to spy out the land; but Moses called Hoshea the son of Nun, Joshua.