Caleb

Deuteronomy 1:36
except Caleb son of Jephunneh. He will see it, and I will give him and his descendants the land he set his feet on, because he followed the LORD wholeheartedly."

This is actually the part where Moses tells about God talking to Moses about Caleb. In fact, God was angry at the time, and He swore that not a man from the present generation would see the land. Except Caleb, because he was wholehearted.
I find it interesting that Joshua is not usually linked with Caleb in these verses. Joshua got to go in. That comes in verse 38. Joshua is given the leadership of Israel after Moses is gone.
In the original account of the event in Numbers 13 and 14, the other explorers all come before Moses with their mixed report: an abundant land, but occupied by powerful people. At this point, Caleb takes charge; masterfully silencing the others--perhaps they were all talking at once, blurting out their impressions, interrupting each other to list another intimidating observation--he says simply, "We should go up and take possession of the land, for we can certainly do it."
The objections redouble, more exaggerated than the first time around--we looked like grasshoppers!--and the people began to panic. The rebellion breaks out.
This time Caleb and Joshua are together, facing the fearful, mutinous nation.
It didn't work, but they had their reward later. And now, as I continue to contemplate Caleb's wholeheartedness, and the place it won him in His Story.