John Gill Commentary Deuteronomy 1:23

"And the thing pleased me well; and I took twelve men of you, one man for every tribe:" — Deuteronomy 1:23 (ASV)

And the saying pleased me well
Taking it to be a rational and prudent scheme, not imagining it was the effect of fear and distrust:

and I took twelve men of you out of a tribe ;
whose names are given in (Numbers 13:4–15) .