Numbers 27:23

"And he laid his hands upon him, and gave him a charge, as the LORD commanded by the hand of Moses."

Cross References (ranked by relevance)

But charge Joshua, and encourage him, and strengthen him: for he shall go over before this people, and he shall cause them to inherit the land which thou shalt see.

Numbers 27:19

And set him before Eleazar the priest, and before all the congregation; and give him a charge in their sight.