מדרש על שופטים 10:7

When Pharaoh shall speak unto you (Exod. 7:9). Scripture states (elsewhere in reference to this verse): Declaring the end from the beginning, and from ancient times things that are not yet done; saying: “My counsel shall stand, and all My pleasure will I do” (Isa. 46:10). The Holy One, blessed be He, declared at the very beginning what the end would be, when He said to Moses: Behold, thou art about to sleep with thy fathers, and this people will rise up, and go astray (Deut. 31:16). They were destined to do so upon Joshua’s death. And will forsake Me, and break My covenant (ibid.), as it is said: And they forsook the Lord, and served Him not (Judg. 10:7). Hence at the very beginning he disclosed what would follow.