Pinhas: Numbers 25.10-30.1
Within this portion is a section describing Moses' transfer of authority to Joshua. God tells Moses that he is soon to die. His death, of course, does not happen until the end of Deuteronomy. At the time of God's announcement to Moses, Moses asks God to appoint a new leader for the people. God responds to Moses' plea and tells Moses to appoint Joshua. This is done in a public ceremony featuring Moses, Joshua and Eleazar,; the High Priest, who formally commissions Joshua.
Why Joshua? He was experienced, having been Moses' aide de camp for almost forty years. During the episode of the spies, he and Caleb were the only ones who felt that the Israelites could conquer the land. Part of the result of that episode was that Caleb and Joshua were the only men who had left Egypt who made it to the Land of Canaan.
Was Joshua the equal of Moses? In charisma? In intimacy with God? No. At the end of Deuteronomy we read "Never again did there arise in Israel a prophet like Moses..." Joshua was not a second Moses. His personal history was different. He was not brought up as a Prince of Egypt, but as the servant of a great leader, for whom he did many tasks great and small. He came from the tribe of Ephraim, not the priestly tribe of Levi like Moses and Aaron. He was a man of the ordinary people and would forcefully plead their case.
That's all necessary, but not sufficient. God tells Moses he is to appoint "a man in whom there is spirit." God wants "a man", not a superhero, like Samson, or a zealot, like Pinchas. God wants a man who knows his own spirit, for only such a person can know the needs of others and can truly lead them in the new generation.
Rabbi Steve Forstein