Numbers 27:21-22

27:21 And he will stand before Eleazar the priest, who will seek counsel for him before the Lord by the decision of the Urim. At his command they will go out, and at his command they will come in, he and all the Israelites with him, the whole community.”

27:22 So Moses did as the Lord commanded him; he took Joshua and set him before Eleazar the priest and before the whole community.