Deuteronomy 31:6-7

31:6 Be strong and courageous! Do not fear or tremble before them, for the Lord your God is the one who is going with you. He will not fail you or abandon you!” 31:7 Then Moses called out to Joshua in the presence of all Israel, “Be strong and courageous, for you will accompany these people to the land that the Lord promised to give their ancestors, and you will enable them to inherit it.

Deuteronomy 31:23

31:23 and the Lord commissioned Joshua son of Nun, “Be strong and courageous, for you will take the Israelites to the land I have promised them, and I will be with you.”