An angel travelled with both Moses and Joshua.
We read of at least two occasions when the angel representing the LORD, appeared to Moses. The first time the angel of the LORD appeared to Moses was when he was a shepherd in Midian. Exodus 3:2-5
And the angel of the LORD appeared to him in a flame of fire out of the midst of a bush. He looked, and behold, the bush was burning, yet it was not consumed. (3) And Moses said, “I will turn aside to see this great sight, why the bush is not burned.” (4) When the LORD saw that he turned aside to see, God called to him out of the bush, “Moses, Moses!” And he said, “Here I am.” (5) Then he said, “Do not come near; take your sandals off your feet, for the place on which you are standing is holy ground.”
The second time, the angel met him when he was going to Egypt to stand before Pharoah. Exodus 4:24
At a lodging place on the way the LORD met him and sought to put him to death.
When Joshua was by Jericho, the angel of the LORD appeared to him and spoke with him. Joshua 5:13-15
When Joshua was by Jericho, he lifted up his eyes and looked, and behold, a man was standing before him with his drawn sword in his hand. And Joshua went to him and said to him, “Are you for us, or for our adversaries?” (14) And he said, “No; but I am the commander of the army of the LORD. Now I have come.” And Joshua fell on his face to the earth and worshiped and said to him, “What does my lord say to his servant?” (15) And the commander of the LORD’s army said to Joshua, “Take off your sandals from your feet, for the place where you are standing is holy.” And Joshua did so.