Translation:

23. (But) among (their) Allah-fearing men were two on whom Allah had bestowed His Grace: they said: "Assault them at the (proper) gate: when once ye are in, victory will be yours. But on Allah put your trust if ye have faith."

Notes (Tafseer)

726. Among those who returned after spying out the land were two men who had faith and courage. They were Joshua and Caleb. Joshua afterwards succeeded Moses in the leadership after 40 years. These two men pleaded for an immediate entry through the proper Gate, which I understand to mean, "after taking all due precautions and making all due preparations". Cf. ii.189 and n. 203. But of course, they said, they must put their trust in Allah for victory.