Reading through Numbers Chapters 35 & 36, God is instructing His servant Moses concerning refuge cities and inheritances. The latter chapter ends by saying, "These are the commandments and the judgments, which the Lord commanded by the hand of Moses unto the children of Israel in the plains of Moab by Jordan near Jericho." (This being not the only time God spoke to Moses.)
This much is clear: God has always walked with and spoken to His servants. God is still walking with us and speaking to us. The impact of His abiding presence and what we have inherited by Christ Jesus as a Kingdom of royal priests should cause us to shout with the voice of triumph! And, by the way, who can forget what happened to that city Jericho. Even so, all the walls that we have erected in our minds, or the enemy of our souls has put up before us should fall. For we cast down imaginations and every high thing that exalts itself against the knowledge of God and bring into captivity every thought to the obedience of Christ.