After the plague at Baal Peor, Yahweh told Moses and Eleazar to number the congregation from twenty years old and upward by their fathers' houses. Numbers began with a census at Sinai, and now a second census marks the start of a new chapter. The first generation's story ended in unbelief. This generation stood in the plains of Moab across from Jericho, ready to enter.
Each tribe is listed with its clans and totals. Reuben's list recalls Dathan and Abiram, but adds, Notwithstanding, the sons of Korah didn't die. Judah's list recalls Er and Onan. The total came to six hundred one thousand seven hundred thirty, close to the first count. The land would be divided by lot, and to the more you shall give the more inheritance. The Levites, twenty-three thousand males, were counted apart because no inheritance was given to them.
The chapter ends with a solemn summary. Among those counted there was not a man of them who were counted by Moses and Aaron in the wilderness of Sinai. For Yahweh had said they would surely die in the wilderness. There was not a man left, except Caleb and Joshua. Hebrews 3 and 4 use this to warn against unbelief and to invite us into God's rest. God's faithfulness to Caleb and Joshua shows that trusting Him is never wasted.