Sforno on Deuteronomy 1:24/ספורנו על דברים א׳:כ״ד

1ויבאו עד נחל אשכול; in accordance with Moses’ instructions to ascend from the south (Numbers 13,17) from Kadesh Barnea, where the people had been encamped at the time. This was located at the southern tip of the country, as spelled out in Numbers 34,4.