The first of the historical books is Joshua.
Joshua appears early on as Moses’ sentry at the base of Mount Sinai during the Golden calf incident (Exodus 32). He also has an important role as one of the 12 spies sent into the land of Canaan, and one of only two who came back with positive reports about the land (Numbers 13-14)
Finally, after Moses strikes the rock and loses his right to enter the Land of Israel (Numbers 20), Joshua is designated the next leader of the Israelites. And it is under Joshua’s leadership that they enter the land of Canaan.