Exodus 24:2
ESV - 2 Moses alone shall come near to the Lord, but the others shall not come near, and the people shall not come up with him.
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In my opinion, Moses and Joshua started up the mountain together because of Joshua's intended position as Moses' eventual designated successor. However, at some point during their ascent, Moses apparently left Joshua behind and went on by himself into God's presence, since only he is indicated in Exodus 24:18 as going up to the top of the mountain.
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