Deuteronomy 9:22-24

22: And at Taberah, and at Massah, and at Kibrothhattaavah, ye provoked the LORD to wrath.

23: Likewise when the LORD sent you from Kadeshbarnea, saying, Go up and possess the land which I have given you; then ye rebelled against the commandment of the LORD your God, and ye believed him not, nor hearkened to his voice. 

24:Ye have been rebellious against the LORD from the day that I knew you.