Numbers 27:18-23 New King James Version (NKJV)
18 And the Lord said to Moses: “Take Joshua the son of Nun with you, a man in whom is the Spirit, and lay your hand on him; 19 set him before Eleazar the priest and before all the congregation, and inaugurate him in their sight. 20 And you shall give some of your authority to him, that all the congregation of the children of Israel may be obedient. 21 He shall stand before Eleazar the priest, who shall inquire before the Lord for him by the judgment of the Urim. At his word they shall go out, and at his word they shall come in, he and all the children of Israel with him—all the congregation.”
22 So Moses did as the Lord commanded him. He took Joshua and set him before Eleazar the priest and before all the congregation. 23 And he laid his hands on him and inaugurated him, just as the Lord commanded by the hand of Moses.
Deuteronomy 31:23 New King James Version (NKJV)
23 Then He inaugurated Joshua the son of Nun, and said, “Be strong and of good courage; for you shall bring the children of Israel into the land of which I swore to them, and I will be with you.”