Parshat Matot (Numbers 30:2-32:42). But the question remains: What justification did Moses have that allowed him to denounce them so fiercely? How could he compare them to the scouts?
Ask 10 Jews with a reasonable background in Torah the question, "Why did God not allow Moses to lead the Israelites into the Promised Land?" and nine of them would probably say: "Because Moses hit the rock instead of talking to it in order to bring forth water and failed to sanctify God, as God had commanded him."