Which two spies urged Israel not to be afraid of the people of Canaan?

Answer: Joshua and Caleb

Joshua son of Nun and Caleb son of Jephunneh tore their clothes and said, "Do not be afraid of them!"

“Joshua son of Nun and Caleb son of Jephunneh, who were among those who had spied out the land, tore their clothes”— Numbers 14:6 (BSB)