Hebrews 4:1; Hebrews 4:6-8
Therefore, since the promise that we can enter into rest is still open, let's be careful so that none of you will appear to miss it.
Therefore, it's left open for some to enter it, and the ones who had the good news preached to them before didn't enter because of disobedience.
Just as it says in the passage above, God designates a certain day as "today," when he says through David much later, Today, if you hear his voice, don't have stubborn hearts.
If Joshua gave the Israelites rest, God wouldn't have spoken about another day later on.