And I will send an angel before thee; and I will drive out the Canaanite, the Amorite, and the Hittite, and the Perizzite, the Hivite, and the Jebusite: Unto a land flowing with milk and honey: for I will not go up in the midst of thee; for thou art a stiffnecked people: lest I consume thee in the way.

Exodus 33:2-3

When Moses carried up the people of Israel from Egypt, and they came to the Jordan river, the company of men all chose to disobey God and not enter, rather than to continue on into their promise.  God was angry, and would no longer go forward with them, and told Moses that He Himself would not go with them, but that He would send his angel instead to defeat the enemies.

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