For six days, only the sound of trumpets was heard as the Israelites marched around Jericho. See Josh., chap. 6. Joshua had told them they must not speak. The seven priests preceded the ark with their seven rams' horn trumpets. It seems significant that the priests didn't second guess Joshua and say, "Joshua, seven is a good number, but ten is a better number. After all, we have ten Commandments. In our opinion, we ought to have ten priests blowing ten trumpets." Instead the people were united in their commitment and determination to trust God's direction and go forward, and nothing could stop them.
What a contrast to the nation Moses had shepherded the previous forty years. We remember them for almost constant complaining, bickering, distrusting, and criticizing. Bitterly they told Moses he should have left them in Egypt where they had plenty to eat, instead of bringing them into the wilderness to die of starvation. This, despite the fact that when they had found themselves trapped between Pharaoh's pursuing army and the Red Sea, God had shown His care by parting the waters for them so that they could go forward. When they needed food, God had given them quails each evening and fresh manna each morning. When they needed drink, God had provided water out of rock. He even kept their clothing from wearing out.
What was the difference between the children of Israel whom Moses shepherded and those whom Joshua led into Canaan? While Moses led them out of physical slavery, he could not so easily free their minds. Shackled to fear, ingratitude, doubt, cynicism, criticism, anger, they shut themselves out of the Promised Land. But over a forty year period in the wilderness there was a gradual change of thought. They were beginning to learn and prove what Moses had taught them.