Deuteronomy 31:7

כי אתה תבוא את העם הזה — Translate this as the Targum does: ארי אתה תעול עם עמא הדין, THOU SHALT GO WITH THIS PEOPLE. Moses, by the statement “Thou shall go with this people” (as one of them) said in effect to Joshua: The elders of the generation will be with thee: everything has to be done according to their opinion and their advice. The Holy One, blessed be He, however, said to Joshua, (v. 23) “For thou shalt bring (תביא) the children of Israel into the land which I swore unto them” — thou shalt bring them even against their will; everything depends on you alone: if necessary take a stick and beat them over the head: there can be but one leader for a generation, and not two leaders for a generation (Sanhedrin 8a).

וַיִּקְרָ֨א מֹשֶׁ֜ה לִיהוֹשֻׁ֗עַ וַיֹּ֨אמֶר אֵלָ֜יו לְעֵינֵ֣י כׇל־יִשְׂרָאֵל֮ חֲזַ֣ק וֶאֱמָץ֒ כִּ֣י אַתָּ֗ה תָּבוֹא֙ אֶת־הָעָ֣ם הַזֶּ֔ה אֶל־הָאָ֕רֶץ אֲשֶׁ֨ר נִשְׁבַּ֧ע יְהֹוָ֛ה לַאֲבֹתָ֖ם לָתֵ֣ת לָהֶ֑ם וְאַתָּ֖ה תַּנְחִילֶ֥נָּה אוֹתָֽם׃

And Moshe called to Yehoshua, and said to him in the sight of all Yisra᾽el, Be strong and of a good courage: for thou must go with this people to the land which the Lord has sworn to their fathers to give them; and thou shalt cause them to inherit it.