Midrash sur Les Nombres 27:18

At that time the Lord said unto Moses: Behold, the days are approaching for thee to die. Take ‎thou Joshua, the son of Nun, thy servant, and place him in the tabernacle that I may give him ‎my commandments, and Moses did so.‎‏ ‏And the Lord appeared in the tabernacle in a pillar of ‎cloud, and the pillar of cloud stood at the door of the tabernacle, and the Lord commanded ‎Joshua, the sun of Nun, saying unto him: Be thou strong and courageous for thou shalt bring ‎the children of Israel to the land which I have given unto them, and I will be with thee.‎‏ ‏And ‎Moses said unto Joshua: Be strong and courageous, for thou wilt cause the children of Israel to ‎inherit the land, and the Lord will be with thee, He will not leave thee nor forsake thee. Fear ‎not and be not dismayed.‎‏ ‏And Moses called to all Israel and he said unto them: Ye have seen ‎all the good which the Lord your God hath done for you in the wilderness. Now therefore ‎observe ye all the words of this law and walk in the way of the Lord your God, do not turn from ‎the path which the Lord hath commanded you, neither to the right nor to the left. And Moses ‎taught the child ren of Israel statutes, and judgments, and laws, to practice them in the land, ‎as the Lord had commanded him, behold they are written in the book of the law of God which ‎he gave unto the children of Israel by the hand of Moses. And when Moses had finished ‎instruct ing the children of Israel, the Lord said unto him: Go up to Mount Abarim and die ‎there, and thou shalt be gathered to thy people like unto Aaron, thy brother. And Moses went ‎up, as the Lord had commanded unto him, and he died there, in the land of Moab, in the ‎fortieth year of the children of Israel’s departure from the land of Egypt. And the children of ‎Israel wept for Moses in the plains of Moab, thirty days; so the days of mourning for Moses ‎were ended.‎

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2) Variantly: "Take Aaron and his sons with him": What is the intent of this? In many places the "taking" of men is mentioned in respect to Moses, viz. (Numbers 3:41): "And you shall take the Levites for Me — I am the L–rd." (Numbers 11:16): "And you shall take them (the seventy elders) to the tent of meeting." (Numbers 1:17): "and Moses… took these men who were designated by name." (Numbers 27:18): "Take for yourself Joshua the son of Nun." Now did Moses "string men over his shoulders"? (The intent is that) the Holy One Blessed be He said to him: "Take" them with words so that their hearts not be tied to other things.