God speaks to Moses and expresses his displeasure with the Israelites for grumbling against him. As punishment, those who were numbered in the census and grumbled would not enter the promised land except for Caleb and Joshua. Their corpses would lie in the wilderness for 40 years until the rebellious generation had died off. However, God promises to one day make a new covenant by writing his law on the hearts of the people and being their God. He will replace their hearts of stone with hearts of flesh through his Spirit.