Joshua 2:1

וַיִּשְׁלַח יְהוֹשֻׁעַ בִּן נוּן מִן הַשִּׁטִּים שְׁנַיִם אֲנָשִׁים מְרַגְּלִים חֶרֶשׁ לֵאמֹר לְכוּ רְאוּ אֶת הָאָרֶץ וְאֶת יְרִיחוֹ וַיֵּלְכוּ וַיָּבֹאוּ בֵּית אִשָּׁה זוֹנָה וּשְׁמָהּ רָחָב וַיִּשְׁכְּבוּ שָׁמָּה

Joshua the son of Nun secretly sent two spies from Shittim saying, "Go see the land and Jericho." They went and they came to the house of a harlot whose name was Rahab, and they lay down there.

Given Joshua’s previous trouble with spies (in Numbers chapters 13-14 – an event that led to the Jews wandering in the wilderness for four decades!), it’s surprising that he chose to employ spies again. Rashi on verse 4 quotes the Midrash Tanchuma that the two spies he sent were Kalev (Caleb), who was one of the “good” spies with Joshua, and Pinchas, who stood up for G-d and was rewarded (in Numbers 25).