his minister

Exodus 17:9-14
So Moses said to Joshua, "Choose some of our men and go out to fight the Amalekites. Tomorrow I will stand on the hilltop with the staff of God in my hand." . . .

Exodus 32:17
When Joshua heard the sound of the people shouting, he said to Moses, "The sound of war is in the camp."

Exodus 33:11
Thus the LORD would speak to Moses face to face, as a man speaks with his friend. Then Moses would return to the camp, but his young assistant Joshua son of Nun would not leave the tent.

Numbers 11:28
Joshua son of Nun, the attendant to Moses since youth, spoke up and said, "Moses, my lord, stop them!"

went up

Exodus 24:2
Moses alone shall approach the LORD, but the others must not come near. And the people may not go up with him."