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I.e., by frontal attack. According to the Bible (Numbers xiv, 6-9, 24, 30, 38), the two God-fearing men were Joshua and Caleb, who had been among the twelve spies sent out to explore Canaan, and who now tried to persuade the terror-stricken children of Israel to place their trust in God. As so often in the Qur'an, this story of the Israelites serves to illustrate the difference between real, selfless faith and worldly self-love.
Among those who returned after spying out the land were two men who had faith and courage. They were Joshua and Caleb. Joshua afterwards succeeded Moses in the leadership after 40 years. These two men pleaded for an immediate entry through the proper Gate, which I understand to mean, "after taking all due precautions and making all due preparations". Cf. ii.189 and n. 203. But of course, they said, they must put their trust in Allah for victory.