Numbers 26:64-65
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64But among these there was not a man of those numbered by Moses and Aaron the priest, who had numbered the people of Israel in the wilderness of Sinai. 65For the LORD had said of them, "They shall die in the wilderness." There was not left a man of them, except Caleb the son of Jephun'neh and Joshua the son of Nun.
Numbers 26:64-65 (RSV)