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

And the LORD spoke to Moses, saying, “Send men to spy out the land of Canaan, which I am giving to the children of Israel; from each tribe of their fathers you shall send a man, 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. And Moses called Hoshea the son of Nun, Joshua.