Numbers 32:13-23 CJB

13 Thus ADONAI's anger blazed against Isra'el, so that he made them wander here and there in the desert forty years, until all the generation that had done evil in the sight of ADONAI had died out.
14 Now you, another brood of sinners, have arisen in your fathers' place to increase still more the fierce anger of ADONAI toward Isra'el!
15 For if you turn away from him, he will leave them in the desert again, and thus you will cause the destruction of all these people!"
16 But they came up to him and said, "Here we will build enclosures for our livestock and cities for our little ones,
17 but we ourselves will be armed and ready for action to march at the head of the people of Isra'el, until we have brought them to their place. Our little ones will stay in the fortified cities here because of the people now living in the land.
18 However, we will not return to our own homes until every man in Isra'el has taken possession of his land for inheritance.
19 We will not have an inheritance with them on the other side of the Yarden, westward; because our inheritance has fallen to us on this side of the Yarden, eastward."
20 Moshe said to them, "If you will do this - if you will arm yourselves to go before ADONAI to the war,
21 and if every one of your soldiers will cross the Yarden before ADONAI, until he has driven out his enemies ahead of him,
22 and if the land has been conquered before ADONAI, and only after that do you return - then you will be clear before ADONAI and before Isra'el, and this land here will be yours to possess before ADONAI.
23 But if you will not do this, then you have sinned against ADONAI, and you must understand that your sin will find you out.