Midrash for Joshua 4:14
בַּיּ֣וֹם הַה֗וּא גִּדַּ֤ל יְהוָה֙ אֶת־יְהוֹשֻׁ֔עַ בְּעֵינֵ֖י כָּל־יִשְׂרָאֵ֑ל וַיִּֽרְא֣וּ אֹת֔וֹ כַּאֲשֶׁ֛ר יָרְא֥וּ אֶת־מֹשֶׁ֖ה כָּל־יְמֵ֥י חַיָּֽיו׃ (פ)
On that day the LORD magnified Joshua in the sight of all Israel; and they feared him, as they feared Moses, all the days of his life.
Sifrei Devarim
"and they did as the L-rd had commanded Moses": But He had not yet placed his fear upon them, it being written (Joshua 4:14) "On that day the L-rd exalted Joshua" — On that day He placed his fear upon them.
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