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

The LORD spoke to Moses, saying, “Send men to spy out the land of Canaan, which I am giving to the people of Israel. From each tribe of their fathers you shall send a man, every one a chief 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 were the names of the men whom Moses sent to spy out the land. And Moses called Hoshea the son of Nun Joshua.