Exodus 24:13

13 So Moses arose ¹with ^aJoshua his ²attendant, and Moses went up to ^bthe mountain of God.

Deuteronomy 31:7

7 Then Moses called to Joshua and said to him in the sight of all Israel, “^aBe strong and courageous, for you shall go with this people into the land which Yahweh has sworn to their fathers to give them, and you shall give it to them as an inheritance.