Psalm 78 and Psalm 16
There are a number of psalms that would be especially appropriate for singing with a sermon on Joshua 14. Psalm 78 recounts the history of Israel, how the Lord led his people out of Egypt and then allocated the land of Canaan to them (Psalm 78:55). This would be a good song to sing before the sermon. Psalm 16 focuses on the inheritance of those who belong to God and why we can be wholeheartedly devoted to him. This would be a good song to sing after the sermon.
1 These are the inheritances that the people of Israel received in the land of Canaan, which Eleazar the priest and Joshua the son of Nun and the heads of the fathers’ houses of the tribes of the people of Israel gave them to inherit.