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

The LORD said to Moses, “Send men to explore the land of Canaan, which I will give to the Israelites. Send one leader from each tribe.”

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

These are the names of the men Moses sent to explore the land. (Moses gave Hoshea son of Nun the new name Joshua.)