Deuteronomy 4

specially the day that thou stoodest before the LORD thy God in Horeb, when the LORD said unto me, Gather me the people together, and I will make them hear my words, that they may learn to fear me all the days that they shall live upon the earth, and that they may teach their children.
Deuteronomy 4:10 KJV COMMENTARY MEANING https://bible.com/bible/1/deu.4.10.KJV

Horeb is Sinai https://bible.com/bible/1/deu.4.10.KJV

Furthermore the LORD was angry with me for your sakes, and sware that I should not go over Jordan, and that I should not go in unto that good land, which the LORD thy God giveth thee for an inheritance:
Deuteronomy 4:21 KJV COMMENTARY MEANING https://bible.com/bible/1/deu.4.21.KJV

A very painful things.. Moses here mentions it again and makes them understand that it is because of them thst he after such greatness has been disposesed of what was his https://bible.com/bible/1/deu.4.21.KJV

but I must die in this land, I must not go over Jordan: but ye shall go over, and possess that good land.
Deuteronomy 4:22 KJV COMMENTARY MEANING https://bible.com/bible/1/deu.4.22.KJV

The people for whom Moses could not go over whoever did go over… Though their parents did not make it they did…
Though they were below 20 but in no means were they all kids.. Indeed most of them remembered.

From whatever age memory is formed to 19 years old they remembered.

Moses missed it because of their incessant complaints yet they made it to the promised land. https://bible.com/bible/1/deu.4.22.KJV