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

And Jehovah spake unto Moses, saying, Send thou men, that they may spy out the land of Canaan, which I give unto the children of Israel: of every tribe of their fathers shall ye send a man, every one a prince among them.

Of the tribe of Judah, Caleb the son of Jephunneh. Of the tribe of Issachar, Igal the son of Joseph. Of the tribe of Ephraim, Hoshea the son of Nun.

These are the names of the men that Moses sent to spy out the land. And Moses called Hoshea the son of Nun Joshua.