Key Events in the Background of Deuteronomy & Recalled by Moses

1) Sinai - Israel arrives at Sinai in the third month after their departure from Egypt (Exo 19:1). Here Israel met God in the fire but saw no form.
See Deut 1:6-19; 4:13-20; 9:7-10:11.

2) Leaves Sinai on 20th day of the 2nd month of the 2nd year for Kadesh Barnea (Num 10:11) for the 11-day journey to Kadesh Barnea.
See Deut 1:19-21.

3) Israelite scouts explore the land of Canaan but GenA refuses to take the land for fear of the giants reported by the scouts. For their disobedience they are sentenced to 40 years of wandering, one year for each day of their exploration. God also promises that none of those who came out of Egypt as adults, except Caleb and Joshua will see the Promised Land (Num 14:26-35).
See Deut 1:22-46.

4) Israel spends 38 years wandering around in the wilderness until every one of GenA had died (Deut 2:14). During this time they pass by the countries of Edom, Moab (which also employed Balak to curse Israel) and Ammon. Here also Moses disobeyed the Lord and was banned from entering the Promised Land.
See Deut 2:1-23.

5) Israel conquers the lands belonging to Sihon and Og and the land is divided between the tribes of Reuben, Gad and half of Manasseh.
See Deut 2:24-3:29.

6) Moses expounds the torah to GenB, which later was collected and edited to become Deuteronomy.

7) With his exposition over, Moses dies, and Israel is led by Joshua to cross the Jordan to conquer Canaan. This would be recounted in the book of Joshua.