Was Joshua with Moses on Mount Sinai?

Joshua accompanied Moses when he went up Mount Sinai, but he had to stay back when Moses entered the very presence of God. Moses was alone with God to receive the law and instructions, and Joshua rejoined him as they came down from the mountain.

Les explains that when Moses went up into the mountain, Joshua accompanied him. However, when Moses went into the very presence of God, Les feels Joshua had to stay back, as Moses was absolutely alone with his God. After God gave the instructions for the tabernacle and the law, Moses and Joshua resumed their companionship as they came down out of Mount Sinai. Joshua heard the noise of the people and thought it was war, but Moses corrected him, saying it was neither victorious shouting nor cries of defeat, but singing. Moses then saw the calf and the dancing, and in hot anger he cast the tables out of his hands and broke them beneath the mountain.

Exodus 32:17

And when Joshua heard the noise of the people as they shouted, he said unto Moses, There is a noise of war in the camp.

Did Joshua go up Mount Sinai with Moses?

Yes, Joshua accompanied Moses when he went up Mount Sinai, as the context indicates Moses and Joshua were together on the mountain. However, Joshua evidently stayed back when Moses entered the very presence of God, since Moses was alone with God. They then resumed companionship as they came down.