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 On “Joshua, Moses' minister,” see at Exo 17:9 and Num 13:16. Minister (meshareth), as in Exo 24:13, etc. Although Joshua had already been called by the mouth of the Lord to be the successor of Moses in the task of leading the people into Canaan (Num 27:15.), and had not only been presented to the people in this capacity, but had been instituted in this office by the Lord, with the promise of His help (Deu 31:3-7 and Deu 31:23), the word of the Lord came to him a second time after the death of Moses, with the command to enter upon the office to which he had been called, and with the promise that He would help him to fulfil its duties, as he had already helped His servant Moses. “Because even some of the bravest men, although fully prepared beforehand, either stand still or hesitate when the thing has to be done: this exhortation to Joshua, to gird himself at once for the expedition, was by no means superfluous; though his call was ratified again not only for his own sake, but in order that the people might not hesitate to follow him with their minds collected and calm, when they saw that he took no step without the guidance of God” (Calvin). - Joshua received this word of the Lord by a direct address from God, and not through the intervention of the Urim and Thummim of the high priest; for this appointed medium for the revelation of the will of God, to which he had been referred on the occasion of his first call (Num 27:21), whenever difficulties should arise in connection with his office, was not sufficient for the renewal and confirmation of his divine calling, since the thing required here was not merely that the will of God should be made known to him, but that he should be inspired with courage and strength for the fulfilment of it, i.e., for discharging the duties of his office, just as he afterwards was then in front of the fortified town of Jericho which he was directed to take, where the angel of the Lord appeared to him and assured him of its fall (Jos 5:13). Moreover, the conquest of Canaan formed part of the work which the Lord entrusted to His servant Moses, and in which therefore Joshua was now Moses' successor. Consequently the Lord would be with him as He had been with Moses (Jos 1:5); and for this reason He revealed His will directly to him, as He had done to Moses, though without talking with him mouth to mouth (Num 12:8).

Verse 2
As Moses had died without having brought the Israelites to Canaan, Joshua was to arise and go with all the nation over this Jordan (i.e., the river then before him) into the land which the Lord would give them.

Verse 3
“Namely, every place that the sole of your foot shall tread upon,”